Robot motion behavior control method and device and computer readable medium

A technology of robot movement and control method, which is applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., and can solve problems such as poor versatility

Active Publication Date: 2021-08-13
SHANGHAI SLAMTEC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] An object of the present application is to provide a robot motion behavior control metho

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  • Robot motion behavior control method and device and computer readable medium
  • Robot motion behavior control method and device and computer readable medium
  • Robot motion behavior control method and device and computer readable medium

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Embodiment Construction

[0034] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

[0035] In a typical configuration of the present application, the terminal and the equipment serving the network include one or more processors (CPUs), input / output interfaces, network interfaces and memory.

[0036] Memory may include non-permanent storage in computer-readable media, in the form of random access memory (RAM) and / or nonvolatile memory, such a...

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Abstract

The invention provides a robot motion behavior control scheme which is characterized in that a motion behavior task stack constructed according to a first-in and second-out principle is set and is used for storing each motion behavior planning module for controlling robot behaviors, and the motion behavior planning modules in the motion behavior task stack are traversed and processed in an iteration manner, so that each motion behavior planning module is enabled to perform cooperative processing based on the driving of the input information until the motion behavior task stack is empty, thereby achieving the motion behavior control of the robot. Therefore, the motion behavior control process can be multiplexed and expanded in a modularized and hierarchical mode, the same motion behavior planning module can be called in different control tasks in different logics, the universality of the scheme is improved, and the development difficulty is reduced.

Description

technical field [0001] The present application relates to the technical field of robot control, in particular to a method, device and computer-readable medium for controlling robot motion behavior. Background technique [0002] With the improvement of robot technology, more and more robots have begun to enter human life. Compared with industrial robots that worked in a single and strictly controlled environment in the past, household / commercial robots for ordinary consumers have higher requirements for their intelligence. Due to the high degree of uncertainty in the use environment and the lack of professional knowledge in robot-related fields by users themselves, such intelligent robots must rely on their own intelligent software algorithms for autonomous control to complete tasks. The autonomous control of the robot's motion behavior is realized by the motion behavior planning software running on the robot system. [0003] Nowadays, when the relevant hardware and sensor ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1661
Inventor 陈士凯王小挺白静
Owner SHANGHAI SLAMTEC
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