A compound robot control method, device, electronic device and storage medium
A control method and robot technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problems of difficult operation, combination, complex control algorithm of composite robots, etc., to achieve the effect of improving control efficiency
Active Publication Date: 2022-04-01
JIHUA LAB
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[0003] However, the composite robot in the prior art only stays in the individual control of the individual in the composite robot in terms of control, such as controlling the AGV-manipulator composite robot, only by controlling the AGV and the robotic arm separately to achieve the overall control of the composite robot The effect of this control method does not organically combine the individual robots in the composite robot, making the overall control algorithm of the composite robot complex and difficult to operate
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[0087] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present application.
[0088] It should ...
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The invention relates to the field of robot control, specifically a compound robot control method, device, electronic equipment, and storage medium, which are applied to the control system of a compound robot. The compound robot includes an AGV and a first mechanical arm, both of which are configured to be useful A CPG oscillator for generating rhythm signals; including the steps of: obtaining the motion frequency of the composite robot; obtaining the phase difference of the AGV; obtaining the phase difference of the first mechanical arm; obtaining the rhythm signal of the interrelated AGV and the rhythm signal of the first mechanical arm ; The two rhythm signals are correspondingly mapped to the AGV and the first mechanical arm to realize control; the present invention correlates the AGV and the mechanical arm through the coupling of the rhythm signal, without separate control, which greatly reduces the difficulty of control.
Description
technical field [0001] The invention relates to the field of robot control, in particular to a compound robot control method, device, electronic equipment and storage medium. Background technique [0002] The composite robot is a new type of robot that integrates the functions of a mobile robot and a general industrial robot. In the industrial field, general-purpose industrial robots are called robotic arms or manipulators, which mainly replace the grasping function of human arms; while mobile robots, namely AGV, replace the walking function of human legs and feet. Composite robots use both hands and feet to combine two functions, such as the AGV-manipulator composite robot, mechanical dog-mechanical arm composite robot and mechanical dog-wheeled composite robot in the prior art. [0003] However, the composite robot in the prior art only stays in the individual control of the individual in the composite robot in terms of control, such as controlling the AGV-manipulator com...
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IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1661
Inventor 雷成林刘家骏
Owner JIHUA LAB