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

A technology of robot movement and mechanism movement, applied in the direction of attitude control, etc., can solve problems such as large calculation errors, body jumps, and affecting the stability of biped robot motion, and achieve the effect of improving motion stability and improving body jumps

Pending Publication Date: 2022-04-12
UBTECH ROBOTICS CORP LTD
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Problems solved by technology

However, the numerical iterative algorithm has the problem of large calculation errors in the calculation of the leg parallel mechanism near the limit position of the mechanism, which can easily lead to body jumps in the leg parallel mechanism near the limit position of the mechanism, which affects the motion stability of the biped robot. sex

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

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Embodiment Construction

[0051] 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.

[0052] 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 correction method and device, robot control equipment and a storage medium, and relates to the technical field of robot control. The method comprises the following steps: according to mechanism motion state information of a leg parallel mechanism of a target biped robot at the current moment, determining a target Jacobian matrix of the leg parallel mechanism at the current moment, wherein the target Jacobian matrix is used for describing a kinematics association relationship between a driving joint angular velocity and a tail end attitude angular velocity; then, according to the attitude angular velocity constraint condition, the target Jacobian matrix and the expected joint angular velocity of the leg parallel mechanism at the next moment, mechanism motion optimization is carried out with the optimization purpose of minimizing the difference between the expected joint angular velocity and the driving joint angular velocity corresponding to the target tail end attitude angular velocity; and the corresponding target tail end attitude angular velocity is obtained, so that the joint velocity of the leg parallel mechanism is effectively limited, the body jumping phenomenon of the leg parallel mechanism near the mechanism limit position is improved, and the motion stability of the biped robot is improved.

Description

technical field [0001] The present application relates to the technical field of robot control, in particular, to a method and device for correcting robot motion, robot control equipment, and a storage medium. Background technique [0002] With the continuous development of science and technology, robot technology has received extensive attention from all walks of life because of its great research value and application value. Among them, biped robot control is an important research direction in the field of robot control technology. The parallel mechanism is also gradually applied to the walking control process of biped robots because of its low inertia, high stiffness, high load capacity, high-speed capability and excellent dexterity. It is used to construct the leg structure of biped robots, and Instead of realizing the driving effect of the original ankle joint of the biped robot, the moment of inertia of the leg is reduced. [0003] It is worth noting that the motion c...

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Application Information

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IPC IPC(8): G05D1/08
Inventor 周江琛熊友军陈春玉葛利刚刘益彰闫萌罗秋月
Owner UBTECH ROBOTICS CORP LTD
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