Robot motion control method and device, robot control equipment and storage medium

A technology of robot motion and control method, applied in the direction of non-electric variable control, control/regulation system, two-dimensional position/channel control, etc., which can solve the problem of deterioration of motion/force transmission performance, failure to ensure robot operation performance, and reach the expected state And other issues

Pending Publication Date: 2022-03-04
UBTECH ROBOTICS CORP LTD
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  • Claims
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Problems solved by technology

However, in the actual application process of parallel robots with parallel mechanisms, factors such as external interference or improper task planning often lead to deterioration of the motion / force transmission performance of the parallel mechanisms of parallel robots, and it is impossible to ensure that the robot’s operating performance reaches expected state

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  • Robot motion control method and device, robot control equipment and storage medium
  • Robot motion control method and device, robot control equipment and storage medium
  • Robot motion control method and device, robot control equipment and storage medium

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Embodiment Construction

[0069] 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. 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.

[0070] 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 in this application, all other embodiments obtained by persons of ordinary skill in the art w...

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Abstract

The invention provides a robot motion control method and device, robot control equipment and a storage medium, and relates to the technical field of robot control. According to the current real-time state information of the parallel robot and the expected movement track information of the to-be-executed task, the task execution coefficient matrix and the dynamic constraint condition when the to-be-executed task is executed are determined; constructing a parameter distribution constraint condition based on a hyperplane constraint condition of a parallel mechanism transmission performance high-quality space of the parallel robot in a generalized joint space, and then solving a target driving parameter meeting a dynamic constraint condition and the parameter distribution constraint condition from a task execution loss function by adopting a task execution coefficient matrix; therefore, the kinematics information of the robot and the expected working space range, related to the motion/force transmission performance, of the parallel mechanism are fully considered in the robot motion control process through the target driving parameters, and it is ensured that the robot shows the expected operation performance while achieving the expected motion effect.

Description

technical field [0001] The present application relates to the technical field of robot control, in particular, to a robot motion control method and device, robot control equipment, and a storage medium. Background technique [0002] With the continuous development of science and technology, robot technology has been widely valued by all walks of life because of its great research value and application value. Sex and other characteristics are gradually applied to industrial robots and legged robots to improve the kinematics and dynamics performance (for example, speed capability, acceleration capability, etc.) of the corresponding robot. However, in the actual application process of parallel robots with parallel mechanisms, factors such as external interference or improper task planning often lead to deterioration of the motion / force transmission performance of the parallel mechanisms of parallel robots, and it is impossible to ensure that the robot’s operating performance re...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0276
Inventor 王家俊韩刚熊友军
Owner UBTECH ROBOTICS CORP LTD
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