Motion control method, motion control device and robot

Abstract

The invention discloses a motion control method, a motion control device, a robot and a computer readable storage medium. The method comprises the following steps: according to reference trajectory information of each task of a robot in a control period and state estimation information of each task of the robot in the control period, calculating to obtain a task matrix and expected information of each task; according to the state estimation information, a constraint matrix and a boundary of inequality constraints which the robot needs to meet are obtained through calculation; on the basis of all the obtained information, the weight coefficient of each task determined in real time and the priority level of each task determined in real time, a hierarchical quadratic programming problem with recursive hierarchical projection is constructed; and the hierarchical quadratic programming problem is solved, and a joint control instruction used for controlling all joints of the robot to move so as to execute corresponding tasks is generated based on the solving result. According to the scheme, the operation stability and the task execution effect of the robot can be guaranteed.

Description

technical field [0001] The present application belongs to the technical field of robot control, and in particular relates to a motion control method, a motion control device, a robot, and a computer-readable storage medium. Background technique [0002] Robots need to integrate into the dynamic and unstructured environment in which humans live in order to interact and get along with humans harmoniously. When the robot operates in this environment, it needs to take into account the physical and environmental constraints of each part of the body in order to integrate the whole body movement to achieve a variety of tasks at the same time. For example, redundant robots often need to realize the operation tasks of the arm under the condition of satisfying physical constraints (including maintaining balance and avoiding joint impact limit, etc.), and need to have functions such as avoiding obstacle impact and responding to external force dragging softly. When a robot performs com...

AI Technical Summary

Problems solved by technology

[0004] However, the above-mentioned existing technology reflects a complete projection relationship, which cannot directly reflect the continuous change of the degrees of freedom required by each task when the priority level of each task is adjusted.

This will cause the smoothness of the robot's operation and the effect of task execution to be affected when the priority level of the task is adjusted

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