Unlock instant, AI-driven research and patent intelligence for your innovation.
Robot motion control method and device and robot
What is Al technical title?
Al technical title is built by PatSnap Al team. It summarizes the technical point description of the patent document.
A technology of robot motion and control method, applied in the field of device and robot, robot motion control method, and can solve problems such as joint over-limit
Active Publication Date: 2021-07-06
UBTECH ROBOTICS CORP LTD
View PDF6 Cites 8 Cited by
Summary
Abstract
Description
Claims
Application Information
AI Technical Summary
This helps you quickly interpret patents by identifying the three key elements:
Problems solved by technology
Method used
Benefits of technology
Problems solved by technology
When the robot performs a variety of complex tasks (following the movement of the mechanical arm, controlling the momentum of the center of mass of the legged robot, etc.) bit problem
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more
Image
Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
Click on the blue label to locate the original text in one second.
Reading with bidirectional positioning of images and text.
Smart Image
Examples
Experimental program
Comparison scheme
Effect test
Embodiment 1
[0071] Please refer to figure 1 , this embodiment proposes a robot motion control method, which is applicable to robots with joint types such as position-controlled joints, force-controlled joints, and force-position mixed control types. This method is a general motion control method and is suitable for industrial Motion control of manipulators, humanoid robots, multi-legged robots, etc. in various fields such as , service and special.
[0072] Such as figure 1 As shown, the robot motion control method will be described in detail below.
[0073] Step S10, calculating the expected motion state information of each joint of the robot in the corresponding control period for performing the task according to the planned task trajectory information and the joint angle related information fed back by the robot in the corresponding control period.
[0074] Among them, the above-mentioned task trajectory is usually obtained by pre-planning, as the motion reference trajectory in the ta...
Embodiment 2
[0103] Please refer to image 3 , based on the above-mentioned embodiment 1, this embodiment proposes a robot motion control method, which also includes the above-mentioned steps S10-S40. These steps are described in detail below.
[0104] In one embodiment, for the above step S10 "calculate the expected motion state information of each joint of the robot in the corresponding control period for performing the task according to the planned task trajectory information and the joint angle related information fed back by the robot in the corresponding control period", Such as image 3 shown, including:
[0105] In step S110, the reference motion state information of the robot in the task space corresponding to the control cycle is obtained according to the planned task trajectory information.
[0106] For the tasks to be performed, the trajectory information of the robot in the task space can be pre-planned. For example, the trajectory can be the trajectory of the end of the me...
Embodiment 3
[0176] Please refer to Figure 5 , based on the method of the first embodiment above, this embodiment proposes a robot motion control device 100 . Exemplarily, the robot motion control device 100 includes:
[0177] The expected value calculation module 110 is used to calculate the expected motion state information of each joint of the robot for performing tasks in the corresponding control period according to the planned task trajectory information and the joint angle related information fed back by the robot in the corresponding control period. The joint angle related information includes each joint angle.
[0178] The avoidance limit angle information calculation module 120 is used to calculate the virtual repulsion force of each joint away from the limit corresponding to the control cycle based on the feedback of each joint angle, and calculate the limit avoidance angle related information of each joint according to the virtual repulsion force.
[0179] The optimization m...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More
PUM
Login to View More
Abstract
The embodiment of the invention provides a robotmotion control method and device and a robot. The method comprises the steps that expected motion state information of a corresponding control period is calculated according to task trajectory information and joint angle related information fed back by the robot in real time; virtual repulsive force of the corresponding control period is solved through all joint angles, and relevant information of an avoiding and limiting angle is calculated according to the virtual repulsive force; an optimization model is solved based on the expected motion state information of the corresponding control period and the relevant information of the avoiding and limiting angle to obtain the optimal joint angular acceleration or angular velocity which meets joint smooth avoidance limit and is used for executing a task so as to control the robot to move in the corresponding control period. According to robot motion control method and device and the robot, the behavior of being away from the joint limit can be smoothly generated according to the robot state of each control period, a collision avoidance track does not need to be planned in advance, smooth execution of a planning task can still be ensured under the condition that the degree of freedom is met, and the robot can safely and stably run.
Description
technical field [0001] The present application relates to the technical field of robot control, in particular to a robot motion control method, device and robot. Background technique [0002] With the development of robot technology, robots are gradually coming out of the structured environment and entering into the dynamic and changeable unstructured environment. When the robot performs a variety of complex tasks (following the movement of the mechanical arm, controlling the momentum of the center of mass of the legged robot, etc.) bit problem. For this reason, how to ensure that when the joint angle is close to the joint limit when the robot is performing tasks, how to keep away from the joint limit smoothly is the key to realize the safe and stable operation of the robot in an unstructured environment. Contents of the invention [0003] The embodiment of the present application provides a robot motion control method, device and robot, which can realize a smooth distan...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More
Application Information
Patent Timeline
Application Date:The date an application was filed.
Publication Date:The date a patent or application was officially published.
First Publication Date:The earliest publication date of a patent with the same application number.
Issue Date:Publication date of the patent grant document.
PCT Entry Date:The Entry date of PCT National Phase.
Estimated Expiry Date:The statutory expiry date of a patent right according to the Patent Law, and it is the longest term of protection that the patent right can achieve without the termination of the patent right due to other reasons(Term extension factor has been taken into account ).
Invalid Date:Actual expiry date is based on effective date or publication date of legal transaction data of invalid patent.
Login to View More 
Login to View More