Computer-implemented method for motion planning and automatic control of a robot

Abstract

The invention relates to a computer-implemented method for motion planning and automatic control of a robot, wherein the method comprises: obtaining a target optimization function for measuring the motion time and motion energy consumption of the robot, wherein the target optimization function is constructed using a target dynamics model of the robot (S101); determining a minimum value of the target optimization function when moving the robot along a target trajectory under constraint conditions of motion information (S102); generating motion planning information when moving the robot along the target trajectory according to a target motion information corresponding to the minimum value (S103) and controlling the robot based on the motion planning information.In the target optimization function of this method, all joints of the robot and the frictional force of each joint are taken into account, so that the optimization accuracy of the final time or energy consumption can be improved.