Robot control method, robot, and computer-readable storage medium
A control method and robot technology, applied in the field of robot control, robot and computer-readable storage media, can solve the problems of being unable to grasp, difficult to grasp, and taking a period of time, so as to improve the success rate, precision, and universal sexual effect
Active Publication Date: 2022-08-09
SHENZHEN INST OF ADVANCED TECH
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Problems solved by technology
[0003] For moving objects, since the object position information obtained each time comes from the previous moment, it is impossible to grasp through the process of obtaining the object position, moving the robot arm, and grasping.
And it often takes a while to solve the motion of the robotic arm through the Cartesian space system, and the object will move to a farther distance, making it difficult to grasp
Method used
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[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, the drawings only show some but not all the structures related to the present application. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.
[0029] The terms "first", "second", etc. in this application are used to distinguish different objects, rather than to describe a specific order. Furthermore, the terms "comprising" and "having" and any variations thereof are intended to cover n...
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The present application relates to the technical field of robot control, and discloses a robot control method, a robot and a computer-readable storage medium. The control method includes: obtaining the first speed of the target dynamic object at the current moment; inputting the first speed into a control model obtained by pre-training, and obtaining the second speed of the robot output by the control model, and the second speed is the same as that of the target dynamic object. The speed at a moment corresponds to; wherein, the control model is obtained by training the control model as a training sample by the second speed generated by the robot during the historical motion process and the first speed generated by the target dynamic object during the historical motion process; The robotic arm of the robot is controlled according to the second speed, so that the robotic arm synchronously tracks the target dynamic object at the next moment. In the above manner, the accuracy of the tracking of the dynamic object by the robot arm and the smoothness of the movement of the robot arm can be improved.
Description
technical field [0001] The present application relates to the technical field of robot control, and in particular, to a control method of a robot, a robot, and a computer-readable storage medium. Background technique [0002] When grasping an object, the robotic arm of the robot needs to know the position of the object to be grasped in advance, and then the end of the robotic arm reaches the position of the object through the change of the joint angle of each link, and then executes the grasping command. [0003] For moving objects, since the object position information obtained each time comes from the previous moment, it cannot be grasped through the process of obtaining the object position, moving the robotic arm, and grasping. And it often takes a while to solve the motion of the robotic arm through the Cartesian space system, and the object will move to a farther distance, making it difficult to grasp. SUMMARY OF THE INVENTION [0004] The technical problem mainly so...
Claims
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IPC IPC(8): B25J9/16
CPCB25J9/1602
Inventor 徐升陈凯欧勇盛王志扬江国来熊荣刘超赛高乐
Owner SHENZHEN INST OF ADVANCED TECH