Mass center track generation method and device, computer readable storage medium and robot

A trajectory generation and robotics technology, applied in the field of robotics, can solve problems such as low efficiency and poor real-time performance, and achieve the effects of simplifying calculations, good real-time performance, and improving computing efficiency

Pending Publication Date: 2021-08-20
UBTECH ROBOTICS CORP LTD
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Problems solved by technology

[0003] In view of this, the embodiment of the present application provides a centroid trajectory generation method, device, computer-readable storage medium and robot to solve the problems of low efficiency and poor real-time performance of the existing centroid trajectory generation method

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  • Mass center track generation method and device, computer readable storage medium and robot
  • Mass center track generation method and device, computer readable storage medium and robot
  • Mass center track generation method and device, computer readable storage medium and robot

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Embodiment Construction

[0050]In order to make the purpose, features and advantages of the present application more obvious and understandable, 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 following The described embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0051] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude one or more other features. , whole, step, operation, element, component and / or the presence or ...

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Abstract

The invention belongs to the technical field of robots, and particularly relates to a mass center track generation method and device, a computer readable storage medium and a robot. The method comprises the steps of determining the mass center position, the mass center speed and the mass center acceleration of the robot at a first planning moment; calculating the mass center track increment of the robot according to the mass center speed and the mass center acceleration of the robot at the first planning moment; and calculating the centroid position of the robot at the second planning moment according to the centroid position of the robot at the first planning moment and the centroid trajectory increment. According to the method, an incremental centroid trajectory generation mode is introduced, that is, the centroid trajectory increment is calculated based on the previous centroid velocity and acceleration, and a new centroid position can be obtained by superposing the centroid trajectory increment on the basis of the previous centroid position, so that the calculation amount required in the centroid trajectory generation process is greatly reduced, the calculation efficiency is improved, and the real-time performance is good.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a method and device for generating a centroid trajectory, a computer-readable storage medium and a robot. Background technique [0002] The centroid trajectory generation is an important content in robot control technology. Although the centroid trajectory of the robot can be generated in various ways in the prior art, it often involves a large number of complex calculations, with low efficiency and poor real-time performance. Contents of the invention [0003] In view of this, embodiments of the present application provide a centroid trajectory generation method, device, computer-readable storage medium, and robot to solve the problems of low efficiency and poor real-time performance of existing centroid trajectory generation methods. [0004] The first aspect of the embodiments of the present application provides a method for generating a centroid traject...

Claims

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Application Information

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IPC IPC(8): G06F30/20G06F119/14
CPCG06F30/20G06F2119/14
Inventor 白杰陈春玉葛利刚刘益彰熊友军
Owner UBTECH ROBOTICS CORP LTD
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