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Robot motion control method and device, controller and storage medium

A technology of robot motion and control method, applied in the fields of controllers and storage media, robot motion control methods, and devices, can solve the problems of small delay, poor feedback control effect, and high precision requirements.

Active Publication Date: 2021-04-13
乐聚(深圳)机器人技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, feedback control has high requirements on the accuracy of sensors inside the robot, and requires the system to have a small delay, and as the walking speed of the robot increases, the effect of feedback control will become worse

Method used

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  • Robot motion control method and device, controller and storage medium
  • Robot motion control method and device, controller and storage medium

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Embodiment Construction

[0078] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

[0079] Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art wi...

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Abstract

The invention provides a robot motion control method and device, a controller and a storage medium, and relates to the technical field of robot control. The method comprises the steps that a whole-body angular momentum vector of a robot in each posture is calculated according to a pre-planned whole-body motion track of the robot; according to the whole-body angular momentum vector of each posture, the whole-body angular momentum vector of the posture before each posture and a preset time interval, the angular momentum change rate of the robot in each posture is calculated, and the preset time interval is the time interval between every two adjacent postures; a target centroid track of the robot is calculated according to the angular momentum change rate and a pre-planned zero moment point track of the robot; and motion control is performed on the robot according to the target centroid track. According to the robot motion control method and device, the controller and the storage medium, the walking stability of the robot can be improved.

Description

technical field [0001] The present invention relates to the technical field of robot control, in particular to a robot motion control method, device, controller and storage medium. Background technique [0002] With the approach of robotics, humanoid robots have entered the stage of intensive research. When the existing humanoid robot plans the walking trajectory, it usually regards the robot as a whole as a mass point to simplify the planning steps of the motion trajectory, without considering the influence of each joint on the robot's motion when the robot walks. [0003] When the robot walks fast, the change of angular momentum generated by the swing of the limbs makes the robot walk unstable. The existing method for controlling the stable walking of the robot is: when it is detected that the walking of the robot is unstable, the influence of the angular momentum change on the walking of the robot is reduced through feedback control. [0004] However, the feedback contr...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 冷晓琨常琳何治成白学林柯真东王松吴雨璁黄贤贤
Owner 乐聚(深圳)机器人技术有限公司
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