Bessel Curve-Based Robot Pose Control Method, Device and Electronic Equipment

Abstract

The present invention provides a robot pose control method, device and electronic device based on Bezier curves. The method includes: obtaining the original pose data of the robot, and determining the original trajectory according to the original pose data, where the original pose data includes original position data and original attitude data; performing point selection interpolation on the original position data based on the third-order Bezier curve using the first point selection rule to obtain position control points, and performing point selection interpolation on the original attitude data using the second point selection rule to obtain attitude control points; performing Bezier curve fitting according to the position control points and attitude control points to determine the planned path of the robot. The present invention performs fitting of the robot's position and attitude based on Bezier curves. Through two fittings, the position and attitude are unifiedly planned. When the change in the point position and attitude is small, the linear velocity of the robot during operation is basically kept consistent. When the change in the point position and attitude is large, the linear velocity of the end of the robot flange is ensured to be consistent.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot control, and particularly to a robot pose control method, device, electronic device and storage medium based on Bezier curves. Background Technique

[0002] Industrial automation refers to the general term for information processing and process control such as measurement and manipulation according to the expected goals without direct human intervention in machine equipment or production processes. The 1950s to 1970s of last century was the starting stage of the development of automation in China, and industrial production mainly relied on manual labor; in the 1980s to 1990s, foreign capital and technology poured into the Chinese market, promoting the development of industrial automation in China, and automatic production lines gradually emerged, marking the increasing maturity of industrial automation in China; at the end of the 1990s, with the change of the market environment, it was required that automation technology could develop the scattered unit modules towards a higher integration degree to strive for the maximum efficiency; up to now, the development of industrial automation has made integration, networking and intelligence become the new direction of the industry, but the intelligence of industrial control equipment is still in the primary stage.

[0003] At present, in the process of cutting and processing special-shaped parts, six-axis robots play an increasingly important role. However, in the process of cutting and processing, the existing six-axis robots are difficult to plan the cutting path due to the irregularity of the special-shaped parts, which is time-consuming and the cutting effect is not good, and raw materials are also wasted.

[0004] Therefore, how to smoothly and compliantly control the laser on the robot for cutting has become the key content of the research on robot path planning. Summary of the Invention

[0005] In view of this, it is necessary to provide a robot pose control method, device, electronic device and storage medium based on Bezier curves, which can solve the technical problem that the existing six-axis robots are difficult to plan the cutting path due to the irregularity of the special-shaped parts in the cutting process.

[0006] To solve the above technical problems, the present invention provides a robot pose control method based on Bezier curves, including:

[0007] Obtain the original pose data of the robot, and determine the original trajectory according to the original pose data, where the original pose data includes original position data and original attitude data;

[0008] Based on the third-order Bezier curve, use the first point selection rule to perform point selection and interpolation on the original position data to obtain position control points, and use the second point selection rule to perform point selection and interpolation on the original attitude data to obtain attitude control points;

[0009] According to the position control points and the attitude control points, perform Bezier curve fitting to determine the planned path of the robot.

[0010] Preferably, obtain the original pose data of the robot, and determine the original trajectory according to the original pose data, including:

[0011] Obtain the original position data and the original attitude data of the robot, and perform vector combination on the original position data and the original attitude data to determine the original trajectory;

[0012] Obtain the key points of the original trajectory.

[0013] Preferably, perform point selection and interpolation on the original position data based on the third-order Bezier curve using the first point selection rule to obtain the length of the position control point polyline, including:

[0014] Construct a third-order Bezier curve and define the position control points of the third-order Bezier curve;

[0015] Based on the first point selection rule, determine the mathematical relationship between the position control points of the third-order Bezier curve and the key points of the original trajectory, and determine the position control points according to the mathematical relationship.

[0016] Preferably, perform point selection and interpolation on the original attitude data using the second point selection rule to obtain the length of the attitude control point polyline, including:

[0017] Construct a third-order Bezier curve and define the attitude control points of the third-order Bezier curve;

[0018] Based on the second point selection rule, determine the mathematical relationship between the position control points of the third-order Bezier curve and the key points of the original trajectory, and determine the attitude control points according to the mathematical relationship.

[0019] Preferably, based on the second point selection rule, determine the mathematical relationship between the position control points of the third-order Bezier curve and the key points of the original trajectory, including:

[0020] Calculate the quaternion of the attitude control point based on the spherical linear interpolation formula for the starting attitude, the ending attitude of the attitude control point, and the included angle between the starting attitude and the ending attitude;

[0021] Perform spatial transformation on the quaternion of the attitude control point to obtain the attitude control point coordinates of the robot in three-dimensional space.

[0022] Preferably, according to the position control points and the attitude control points, perform Bezier curve fitting to determine the planned path of the robot, including:

[0023] Determine the length of the polyline of the position control points and the length of the polyline of the attitude control points according to the position control points and the attitude control points;

[0024] Perform sequence fitting on the length of the polyline of the position control points and the length of the polyline of the attitude control points to obtain a fitting curve. Take the length of the fitting curve as the object, perform speed planning, obtain the control variables of the cubic Bézier curve formula, and determine the planned path of the robot according to the control quantity.

[0025] Preferably, determining the length of the polyline of the position control points and the length of the polyline of the attitude control points according to the position control points and the attitude control points includes:

[0026] Connect the position control points with a polygon to obtain the length of the polyline of the position control points;

[0027] Calculate the equivalent radius and the attitude rotation angle of the attitude control points to obtain the length of the polyline of the attitude control points.

[0028] The present invention also provides a robot pose control device based on a Bézier curve, including:

[0029] A pose data acquisition module, configured to acquire the original pose data of the robot, and determine the original trajectory according to the original pose data, where the original pose data includes original position data and original attitude data;

[0030] A control point determination module, configured to perform point selection and interpolation on the original position data based on a cubic Bézier curve using a first point selection rule to obtain position control points, and perform point selection and interpolation on the original attitude data using a second point selection rule to obtain attitude control points;

[0031] A path planning module, configured to perform Bézier curve fitting according to the position control points and the attitude control points to determine the planned path of the robot.

[0032] The present invention also provides an electronic device, including a memory and a processor, where

[0033] The memory is used to store a program;

[0034] The processor is coupled to the memory and is configured to execute the program stored in the memory to implement the steps in the robot pose control method based on a Bézier curve in any of the above implementation manners.

[0035] The present invention also provides a computer-readable storage medium, configured to store a computer-readable program or instruction, and when the program or instruction is executed by a processor, it can implement the steps in the robot pose control method based on a Bézier curve in any of the above implementation manners.

[0036] The beneficial effects of adopting the above embodiments are as follows:

[0037] Based on Bessel curves, the present invention fits the position and posture of the robot. Through two fits, the position and posture are unifiedly planned. When the change in the position and posture at the points is small, the linear velocity of the robot during operation is basically kept consistent. When the change in the position and posture at the points is large, the linear velocity at the end of the robot flange is ensured to be consistent. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0039] Figure 1 It is a schematic flowchart of an embodiment of the robot pose control method based on Bessel curves provided by the present invention;

[0040] Figure 2 It is a schematic diagram of an embodiment of obtaining the position control points by selecting points and interpolating the original position data using the first point selection rule provided by the present invention;

[0041] Figure 3 It is a schematic diagram of an embodiment of obtaining the attitude control points by selecting points and interpolating the original attitude data using the second point selection rule provided by the present invention;

[0042] Figure 4 It is a schematic structural diagram of an embodiment of the robot pose control device based on Bessel curves provided by an embodiment of the present invention;

[0043] Figure 5 It is a schematic structural diagram of an embodiment of the electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present invention.

[0045] References to "embodiments" in this document mean that the specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present invention. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment each time, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0046] The present invention provides a robot pose control method, device, electronic device, and storage medium based on Bezier curves, which will be described separately below.

[0047] As Figure 1 shown, it is a schematic flowchart of an embodiment of the robot pose control method based on Bezier curves provided by an embodiment of the present invention. The method includes:

[0048] Step S101, obtain the original pose data of the robot, and determine the original trajectory according to the original pose data, where the original pose data includes original position data and original attitude data;

[0049] Step S102, perform point selection and interpolation on the original position data based on the cubic Bezier curve using the first point selection rule to obtain position control points, and perform point selection and interpolation on the original attitude data using the second point selection rule to obtain attitude control points;

[0050] Step S103, perform Bezier curve fitting according to the position control points and attitude control points to determine the planned path of the robot.

[0051] Compared with the prior art, the present invention performs fitting of the robot's position and attitude based on Bezier curves. Through two fittings, the position and attitude are unifiedly planned. When the point position and attitude change slightly, it ensures that the linear velocity of the robot during operation is basically consistent. When the point position and attitude change greatly, it ensures that the linear velocity of the robot flange end is consistent.

[0052] It should be noted that the original pose data of the robot is generally the original pose data obtained after generating a cutting trajectory according to the shape of the special-shaped part. For example, point cloud data obtained by laser scanning can be used. In other embodiments, the original pose data can also be the pose data of the end device fixedly connected to the robot, or the pose data of other devices that can achieve synchronous operation with the robot. In addition, the original position data and the original attitude data respectively characterize the trajectory data from two aspects: the current position of the trajectory and the change of the trajectory.

[0053] Furthermore, the original trajectory is a curve trajectory drawn according to the original attitude data. Considering the irregularity of the special-shaped part, the curve trajectory of the original trajectory is not smooth enough, so it is necessary to adjust and improve the curve of the original trajectory.

[0054] In a specific embodiment, a third-order Bezier curve is used as the fitting curve, and each curve requires 4 control points. For a continuous curve, a control point selection scheme is involved, and this scheme ensures the C 1 continuity of the Bezier curve.

[0055] Generally speaking, the C 1 continuity of the Bezier curve is explained as follows:

[0056] Given the parametric equation of the Bezier curve:

[0057]

[0058] where m is the order of the curve, d j is the control point, u is the independent variable,

[0059]

[0060] In this embodiment, a third-order Bezier curve is adopted, and then the curve can be expressed as:

[0061] b(u) = (1 - u) 3 d0 + 3u(1 - u) 2 d1 + 3u 2 (1 - u)d2 + u 3 d3,

[0062] Its first derivative is:

[0063] b′(u) = 3(1 - u) 2 (d1 - d0) + 6u(1 - u)(d2 - d1) + 3u 2 (d3 - d2)

[0064] Suppose there are two Bezier curves b1(u) and b2(u), and the control points are [d0, d1, d2, d3] and [d3, d4, d5, d6] respectively. In order to make the curves velocity continuous at d3, then there is b′1(1) = b′2(0), and it can be obtained that d3 - d2 = d4 - d3, that is, d2, d3, d4 are collinear, and d3 is the end point of d2d4.

[0065] In a preferred embodiment of the present invention, the original pose data of the robot is obtained, and the original trajectory is determined according to the original pose data, including:

[0066] Obtain the original position data and original attitude data of the robot, and determine the original trajectory after vector combination of the original position data and the original attitude data;

[0067] Obtain the key points of the original trajectory.

[0068] It should be noted that combining the original position data and the original attitude data into a vector means expressing the original position data and the original attitude data in vector form. For example, the position data represents a coordinate point, and the attitude data represents the trajectory movement direction.

[0069] Specifically, the key points of the original trajectory can be selected arbitrarily, or can be selected according to the changes of the trajectory (such as inflection points, tangent points, mutation points, etc.), which will not be elaborated here.

[0070] In a preferred embodiment of the present invention, using the first point selection rule based on the cubic Bezier curve to perform point selection and interpolation on the original position data to obtain the length of the position control point polyline, including:

[0071] Construct a cubic Bezier curve and define the position control points of the cubic Bezier curve;

[0072] Based on the first point selection rule, determine the mathematical relationship between the position control points of the cubic Bezier curve and the key points of the original trajectory, and determine the position control points according to the mathematical relationship.

[0073] In a specific embodiment, please refer to Figure 2 , Figure 2 is a schematic diagram of an embodiment of using the first point selection rule to perform point selection and interpolation on the original position data provided by the present invention, which is described by assuming that there are 3 key points of the original trajectory and 6 position control points to be interpolated.

[0074] Specifically, continue to use the 3rd order Bezier curve (i.e., B(u)) in the above embodiment, and continue to use the control points, i.e., [d0, d1, d2, d3] and [d3, d4, d5, d6]. Now assume that the key points of the original trajectory are P0 - P3, and the vector positions composed of the position control points and the attitude control points are [p i , q i , where p i represents the position control point, and q i is the attitude control point represented by a quaternion. Then the selection rule of the positions p i of d0 to d6 is as Figure 2 described.

[0075] It should be noted that Figure 2 the mathematical relationship between the position control points and the key points in is the first point selection rule, which is obtained by performing interpolation processing according to the Bezier curve.

[0076] In a preferred embodiment of the present invention, using the second point selection rule to perform point selection and interpolation on the original attitude data to obtain the length of the attitude control point polyline, including:

[0077] Construct a third-order Bezier curve and define the attitude control points of the third-order Bezier curve;

[0078] Determine the mathematical relationship between the position control points of the third-order Bezier curve and the key points of the original trajectory based on the second point selection rule, and determine the attitude control points according to the mathematical relationship.

[0079] Further, determining the mathematical relationship between the position control points of the third-order Bezier curve and the key points of the original trajectory based on the second point selection rule includes:

[0080] Calculate the quaternion of the attitude control point based on the spherical linear interpolation formula for the starting attitude, ending attitude of the attitude control point, and the included angle between the starting attitude and the ending attitude;

[0081] Perform a spatial transformation on the quaternion of the attitude control point to obtain the attitude control point coordinates of the robot in three-dimensional space.

[0082] In a specific embodiment, please refer to Figure 3 , Figure 3 FIG. is a schematic diagram of an embodiment of obtaining attitude control points by performing point selection and interpolation on the original attitude data using the second point selection rule provided by the present invention, and it is also described by assuming that there are 3 key points on the original trajectory and 6 position control points to be interpolated.

[0083] Specifically, still using the 3rd-order Bezier curve (i.e., B(u)) in the above embodiment, and still using the control points, i.e., [d0, d1, d2, d3] and [d3, d4, d5, d6], now assume that the key points of the original trajectory are P0 - P3, and the vector points formed by the position control points and the attitude control points are [p i ,q i , where p i represents the position control point, and q i is the attitude control point represented by a quaternion. Then the attitude q i selection rule for d0 - d6 is as Figure 3 described.

[0084] Among them, the formula Slerp is the spherical linear interpolation formula, that is:

[0085]

[0086] q0 and q1 are the quaternion representations of the starting attitude and the ending attitude, and θ is the included angle between the two quaternions.

[0087] Since the quaternion belongs to the S 3 space, R 3Curve fitting in space (three-dimensional space) cannot be directly applied to S 3 space. It is necessary to transform the quaternion so that it is mapped to R 3 space. After completing the curve fitting, it is then reflected back to S 3 space to satisfy the continuity of velocity.

[0088] The unit quaternion can be expressed as follows:

[0089]

[0090] where θ is the angle of rotation about the rotation axis and is the rotation axis and is a unit vector.

[0091] Define the following exponential operation:

[0092]

[0093] Take the logarithm operation on both sides of the equation:

[0094]

[0095] Through the exponential and logarithmic operations, the quaternion can be mapped to R 3 space.

[0096] In a preferred embodiment of the present invention, according to the position control points and attitude control points, perform Bezier curve fitting to determine the planned path of the robot, including:

[0097] According to the position control points and attitude control points, determine the length of the polyline of the position control points and the length of the polyline of the attitude control points;

[0098] Perform sequence fitting on the length of the polyline of the position control points and the length of the polyline of the attitude control points to obtain a fitting curve. Taking the length of the fitting curve as the object, perform speed planning to obtain the control variables of the cubic Bezier curve formula, and determine the planned path of the robot according to the control amount.

[0099] Specifically, according to the position control points and attitude control points, determining the length of the polyline of the position control points and the length of the polyline of the attitude control points includes:

[0100] Connect the position control points with a polygon to obtain the length of the polyline of the position control points;

[0101] Calculate the equivalent radius and attitude rotation angle of the attitude control points to obtain the length of the polyline of the attitude control points.

[0102] In a specific embodiment, it is known that the position control point is p i and the attitude control point is q i, the third-order Bezier curve is used to fit both of them, and the fitted curves are expressed as: b p (u), b q (u).

[0103] Given the control points p i and the attitude control points q i , the length of each broken line segment of the control polygon (lp i , lq i ) can be obtained. lq i can be calculated through the equivalent radius and the attitude rotation angle.

[0104] It is easy to know that (lp i , lq i ) is an increasing point sequence. Using the Bezier curve to fit this sequence, the fitted curve blendB(u) is obtained. Taking the length of blendB(u) as the object, speed planning is carried out, and then the corresponding variable u can be obtained. Given the u variable, according to b p (u), b q (u), the corresponding position and attitude can be obtained to complete the planning.

[0105] To better implement the Bezier curve-based robot pose control method in the embodiments of the present invention, correspondingly, as Figure 4 shown, the embodiments of the present invention also provide a Bezier curve-based robot pose control device 400, including:

[0106] A pose data acquisition module 401, configured to acquire the original pose data of the robot, and determine the original trajectory according to the original pose data, where the original pose data includes original position data and original attitude data;

[0107] A control point determination module 402, configured to perform point selection and interpolation on the original position data based on the third-order Bezier curve using the first point selection rule to obtain position control points, and perform point selection and interpolation on the original attitude data using the second point selection rule to obtain attitude control points;

[0108] A path planning module 403, configured to perform Bezier curve fitting according to the position control points and the attitude control points to determine the planned path of the robot.

[0109] It should be noted here that: the Bezier curve-based robot pose control device 400 provided in the above embodiments can implement the technical solutions described in the above method embodiments. The specific implementation principles of the above modules or units can be referred to the corresponding contents in the above method embodiments, and will not be elaborated here.

[0110] AsFigure 5 As shown, based on the above-mentioned robot pose control method based on Bessel curves, the present invention also correspondingly provides an electronic device 500. The electronic device 500 includes a processor 501, a memory 502, and a display 503. Figure 5 Only some components of the electronic device 500 are shown, but it should be understood that it is not required to implement all the shown components, and more or fewer components can be alternatively implemented.

[0111] In some embodiments, the memory 502 may be an internal storage unit of the electronic device 500, such as the hard disk or memory of the electronic device 500. In other embodiments, the memory 502 may also be an external storage device of the electronic device 500, such as a plug-in hard disk equipped on the electronic device 500, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc.

[0112] Furthermore, the memory 502 may also include both the internal storage unit of the electronic device 500 and the external storage device. The memory 502 is used to store the application software installed on the electronic device 500 and various types of data.

[0113] In some embodiments, the processor 501 may be a central processing unit (CPU), a microprocessor, or other data processing chips, and is used to run the program code stored in the memory 502 or process data, such as the robot pose control method based on Bessel curves in the present invention.

[0114] In some embodiments, the display 503 may be an LED display, a liquid crystal display, a touch liquid crystal display, and an OLED (Organic Light-Emitting Diode) toucher, etc. The display 503 is used to display the information in the electronic device 500 and to display a visual user interface. The components 501 - 503 of the electronic device 500 communicate with each other through a system bus.

[0115] In one embodiment, when the processor 501 executes the robot pose control program 504 based on Bessel curves in the memory 502, the following steps can be achieved:

[0116] Obtain the original pose data of the robot, and determine the original trajectory according to the original pose data, where the original pose data includes original position data and original attitude data;

[0117] Select points and interpolate the original position data based on a third-order Bezier curve using a first point selection rule to obtain position control points, and select points and interpolate the original attitude data using a second point selection rule to obtain attitude control points;

[0118] Perform Bezier curve fitting based on the position control points and attitude control points to determine the planned path of the robot.

[0119] It should be understood that when the processor 502 executes the Bezier curve-based robot pose control program 504 in the memory 501, in addition to the above functions, other functions can also be implemented. For specific details, reference can be made to the description of the corresponding method embodiments above.

[0120] Furthermore, the type of the electronic device 500 mentioned in the embodiments of the present invention is not specifically limited. The electronic device 500 can be a portable electronic device such as a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, a laptop computer, etc. Exemplary embodiments of the portable electronic device include, but are not limited to, portable electronic devices running iOS, android, microsoft, or other operating systems. The above portable electronic devices can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (such as a touch panel). It should also be understood that in some other embodiments of the present invention, the electronic device 500 can also be a non-portable electronic device, such as a desktop computer with a touch-sensitive surface (such as a touch panel).

[0121] Correspondingly, an embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium is used to store computer-readable programs or instructions. When the programs or instructions are executed by a processor, the method steps or functions provided by the above method embodiments can be implemented.

[0122] Those skilled in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. Among them, the computer-readable storage medium is a magnetic disk, an optical disk, a read-only memory, or a random access memory, etc.

[0123] The above has introduced in detail the robot pose control method, device, electronic device and storage medium based on Bessel curves provided by the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A robot pose control method based on Bezier curves, characterized in that, including: Obtain the original pose data of the robot, and determine the original trajectory according to the original pose data, where the original pose data includes original position data and original attitude data; Based on the cubic Bezier curve, use the first point selection rule to perform point selection interpolation on the original position data to obtain position control points, and use the second point selection rule to perform point selection interpolation on the original attitude data to obtain attitude control points; According to the position control points and attitude control points, perform Bezier curve fitting to determine the planned path of the robot; Obtain the original pose data of the robot, and determine the original trajectory according to the original pose data, including: Obtain the original position data and original attitude data of the robot, and determine the original trajectory after vector combination of the original position data and the original attitude data; Obtain the key points of the original trajectory; Based on the cubic Bezier curve, use the first point selection rule to perform point selection interpolation on the original position data to obtain position control points, including: Construct a cubic Bezier curve and define the position control points of the cubic Bezier curve; Based on the first point selection rule, determine the mathematical relationship between the position control points of the cubic Bezier curve and the key points of the original trajectory, and determine the position control points according to the mathematical relationship between the position control points of the cubic Bezier curve and the key points of the original trajectory; According to the position control points and attitude control points, perform Bezier curve fitting to determine the planned path of the robot, including: According to the position control points and attitude control points, determine the length of the position control point polyline and the length of the attitude control point polyline; Perform sequence fitting on the length of the position control point polyline and the length of the attitude control point polyline to obtain a fitting curve. Take the length of the fitting curve as an object, perform speed planning, obtain the control variables of the cubic Bezier curve formula, and determine the planned path of the robot according to the control variables.

2. The robot pose control method based on Bezier curves according to claim 1, characterized in that, Use the second point selection rule to perform point selection interpolation on the original attitude data to obtain attitude control points, including: Construct a cubic Bezier curve and define the attitude control points of the cubic Bezier curve; Based on the second point selection rule, determine the mathematical relationship between the position control points of the cubic Bezier curve and the key points of the original trajectory, and determine the attitude control points according to the mathematical relationship between the position control points of the cubic Bezier curve and the key points of the original trajectory.

3. The robot pose control method based on Bezier curves according to claim 2, characterized in that, Based on the second point selection rule, determine the mathematical relationship between the position control points of the cubic Bezier curve and the key points of the original trajectory, including: Calculate the quaternion of the attitude control point based on the spherical linear interpolation formula for the starting attitude, ending attitude of the attitude control point, and the included angle between the starting attitude and the ending attitude; Perform spatial transformation on the quaternion of the attitude control point to obtain the attitude control point coordinates of the robot in three-dimensional space.

4. The robot pose control method based on Bezier curves according to claim 1, characterized in that, According to the position control points and attitude control points, determine the length of the position control point polyline and the length of the attitude control point polyline, including: Connect the position control points with a polygon to obtain the length of the position control point polyline; Calculate the equivalent radius and attitude rotation angle of the attitude control points to obtain the length of the attitude control point polyline.

5. A robot pose control device based on Bezier curves, characterized in that, including: A pose data acquisition module, which is configured to acquire the original pose data of the robot, and determine an original trajectory according to the original pose data, wherein the original pose data includes original position data and original attitude data; A control point determination module, which is configured to perform point selection and interpolation on the original position data based on a third-order Bezier curve using a first point selection rule to obtain position control points, and perform point selection and interpolation on the original attitude data using a second point selection rule to obtain attitude control points; A path planning module, which is configured to perform Bezier curve fitting according to the position control points and attitude control points to determine the planned path of the robot; Acquiring the original pose data of the robot and determining an original trajectory according to the original pose data includes: Acquiring the original position data and original attitude data of the robot, and determining an original trajectory after vector combination of the original position data and the original attitude data; Acquiring key points of the original trajectory; Performing point selection and interpolation on the original position data based on a third-order Bezier curve using a first point selection rule to obtain position control points, including: Constructing a third-order Bezier curve and defining position control points of the third-order Bezier curve; Determining the mathematical relationship between the position control points of the third-order Bezier curve and the key points of the original trajectory based on the first point selection rule, and determining the position control points according to the mathematical relationship between the position control points of the third-order Bezier curve and the key points of the original trajectory; Performing Bezier curve fitting according to the position control points and attitude control points to determine the planned path of the robot, including: Determining the length of the position control point broken line and the length of the attitude control point broken line according to the position control points and attitude control points; Performing sequence fitting on the length of the position control point broken line and the length of the attitude control point broken line to obtain a fitting curve, taking the length of the fitting curve as an object, performing speed planning to obtain control variables of the third-order Bezier curve formula, and determining the planned path of the robot according to the control variables.

6. An electronic device, characterized in that, Including a memory and a processor, wherein, The memory is configured to store programs; The processor is coupled to the memory and is configured to execute the programs stored in the memory to implement the steps in the Bezier curve-based robot pose control method according to any one of claims 1 to 4 above.

7. A computer-readable storage medium, characterized in that, For storing computer-readable programs or instructions, when the programs or instructions are executed by a processor, the steps in the Bezier curve-based robot pose control method according to any one of claims 1 to 4 above can be implemented.

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