A method, device and computer storage medium for constraining attitude acceleration

Abstract

The application discloses a pose acceleration constraint method, a pose acceleration constraint device and a computer storage medium. The method comprises the following steps: acquiring any three pose points of a pose curve; acquiring a first pose line segment and a second pose line segment which are sequentially connected by the three pose points, and a connection pose point of the first pose line segment and the second pose line segment; acquiring a first pose speed vector of the connection pose point on the first pose line segment; acquiring a second pose speed vector of the connection pose point on the second pose line segment; constructing a pose acceleration constraint inequality by using the first pose speed vector and the second pose speed vector; and solving the pose acceleration constraint inequality to obtain a maximum linear speed value of the connection pose point. The constraint method is simple and effective. In the small line segment forward-looking preprocessing with a position as a main shaft, the linear speed at each discrete point can be constrained to constrain the pose acceleration, and the motion efficiency and motion stability of a robot in an arbitrary pose curve are improved.

Description

Technical Field

[0001] This application relates to the field of robot trajectory planning technology, and in particular to an attitude acceleration constraint method, an attitude acceleration constraint device, and a computer storage medium. Background Technology

[0002] Arbitrary pose curves can be discretized and broken down into small line segments according to certain rules, and the interpolation motion of arbitrary pose curves can be transformed into the motion of small line segments. If the starting and ending velocities of each small line segment are both 0, it will lead to motion stuttering, uneven movement, low efficiency, and affect machining quality. A simple and effective approach to small line segment look-ahead preprocessing is to use the position axis as the velocity planning axis, and, considering constraints such as linear velocity, linear acceleration, attitude velocity, and attitude acceleration, calculate the starting and ending velocities of each small line segment. This ensures smooth interpolation motion of arbitrary pose curves, improves process cycle time, and enhances machining quality.

[0003] Existing look-ahead algorithms only consider the linear velocity, linear acceleration, and attitude velocity of all discrete points on any pose curve, without considering the effect of the attitude acceleration of discrete points on the attitude velocity constraint. This results in poor velocity constraint effect in trajectory planning, affecting the robot's motion efficiency and accuracy. Summary of the Invention

[0004] This application provides an attitude acceleration constraint method, an attitude acceleration constraint device, and a computer storage medium.

[0005] One technical solution adopted in this application is to provide an attitude acceleration constraint method, which includes:

[0006] Obtain the robot's pose curve, and obtain any three pose points of the pose curve;

[0007] Obtain the first pose line segment and the second pose line segment formed by connecting any three pose points in sequence, as well as the pose point connecting the first pose line segment and the second pose line segment.

[0008] Based on the position and attitude synchronization planning relationship, the first attitude velocity vector of the connected pose point in the first pose line segment is obtained;

[0009] Based on the position and attitude synchronization planning relationship, the second attitude velocity vector of the connected pose point in the second pose line segment is obtained;

[0010] Construct an attitude acceleration constraint inequality using the first attitude velocity vector and the second attitude velocity vector;

[0011] Solving the attitude acceleration constraint inequality yields the maximum linear velocity value of the connected pose point.

[0012] The step of obtaining the first attitude velocity vector of the connecting pose point in the first pose line segment based on the position and attitude synchronization planning relationship includes:

[0013] Obtain the first pose point of the first pose line segment;

[0014] Obtain the first quaternion of the first pose point and the connection quaternion of the connected pose points;

[0015] The unit quaternion angle of the first pose line segment is determined using the first quaternion and the connection quaternion.

[0016] Based on the position and attitude synchronization planning relationship, according to the unit quaternion included angle, the first quaternion and the connection quaternion, the first connection quaternion derivative of the connection pose point in the first pose line segment is obtained;

[0017] The first attitude velocity vector is determined using the derivative of the first connected quaternion and the connected quaternion.

[0018] The relationship between position and attitude synchronization planning is as follows: the derivative of the normalized path scalar with respect to time is determined by the ratio of linear velocity to the length of the pose line segment.

[0019] The step of obtaining the first connection quaternion derivative of the connected pose point in the first pose line segment based on the position and attitude synchronization planning relationship, according to the unit quaternion angle, the first quaternion, and the connection quaternion, includes:

[0020] When the sine value of the angle between the unit quaternions is less than a preset value, based on the position and state synchronization planning relationship, linear interpolation is used to obtain the first connection quaternion derivative of the connection pose point in the first pose line segment according to the first quaternion and the connection quaternion.

[0021] When the sine value of the angle between the unit quaternions is greater than or equal to a preset value, based on the position and state synchronization planning relationship, spherical linear interpolation is used to obtain the first connecting quaternion derivative of the connecting pose point in the first pose line segment according to the angle between the unit quaternions, the first quaternion, and the connecting quaternion.

[0022] The coordinates of the pose point include position coordinates and attitude coordinates;

[0023] The step of obtaining the first quaternion of the first pose point and the connection quaternion of the pose points includes:

[0024] Based on the attitude coordinates of the first pose point, obtain the first quaternion;

[0025] Based on the attitude coordinates of the connected pose points, the connected quaternion is obtained.

[0026] The step of determining the unit quaternion angle between the first pose line segment and the connecting quaternion using the first quaternion includes:

[0027] Calculate the cosine value of the first quaternion and the connected quaternion;

[0028] The unit quaternion angle of the first pose line segment is determined based on the cosine value.

[0029] The attitude acceleration constraint inequality is as follows: the ratio of the magnitude of the difference between the first attitude velocity vector and the second attitude velocity vector to the interpolation period is less than or equal to the maximum attitude acceleration.

[0030] Another technical solution adopted in this application is to provide an attitude acceleration constraint device, which includes an acquisition module, a vector module, and a constraint module; wherein...

[0031] The acquisition module is used to acquire the robot's pose curve and acquire any three pose points of the pose curve.

[0032] The acquisition module is also used to acquire the first pose line segment and the second pose line segment formed by connecting the three pose points in sequence, as well as the connection pose point between the first pose line segment and the second pose line segment.

[0033] The vector module is used to obtain the first attitude velocity vector of the connected pose point on the first pose line segment based on the position and attitude synchronization planning relationship.

[0034] The vector module is also used to obtain the second attitude velocity vector of the connected pose point in the second pose line segment based on the position and attitude synchronization planning relationship;

[0035] The constraint module is used to construct an attitude acceleration constraint inequality using the first attitude velocity vector and the second attitude velocity vector.

[0036] The constraint module is used to solve the attitude acceleration constraint inequality to obtain the maximum linear velocity value of the connected pose point.

[0037] Another technical solution adopted in this application is to provide an attitude acceleration constraint device, which includes a memory and a processor coupled to the memory;

[0038] The memory is used to store program data, and the processor is used to execute the program data to implement the attitude acceleration constraint method as described above.

[0039] Another technical solution adopted in this application is to provide a computer storage medium for storing program data, which, when executed by a computer, is used to implement the attitude acceleration constraint method described above.

[0040] The beneficial effects of this application are as follows: The attitude acceleration constraint device acquires the robot's pose curve, and acquires any three pose points of the pose curve; acquires the first pose segment and the second pose segment formed by connecting the three pose points in sequence, as well as the connecting pose points of the first pose segment and the second pose segment; based on the position and attitude synchronization planning relationship, acquires the first attitude velocity vector of the connecting pose point in the first pose segment; based on the position and attitude synchronization planning relationship, acquires the second attitude velocity vector of the connecting pose point in the second pose segment; constructs an attitude acceleration constraint inequality using the first attitude velocity vector and the second attitude velocity vector; solves the attitude acceleration constraint inequality to obtain the maximum linear velocity value of the connecting pose point. The attitude acceleration constraint of this application is simple and effective. In the look-ahead preprocessing of small line segments with position as the main axis, the attitude acceleration can be constrained by constraining the linear velocity at each discrete point, thereby improving the motion efficiency and motion stability of the robot's arbitrary pose curve. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a flowchart illustrating an embodiment of the attitude acceleration constraint method provided in this application;

[0043] Figure 2 This is a schematic diagram of the operation flow of the attitude acceleration constraint method provided in this application;

[0044] Figure 3 This is a schematic diagram of an embodiment of the robot pose curve provided in this application;

[0045] Figure 4 yes Figure 1 The diagram shows the detailed process flow of step S13 in the attitude acceleration constraint method.

[0046] Figure 5 This is a schematic diagram of an embodiment of the attitude acceleration constraint device provided in this application;

[0047] Figure 6This is a schematic diagram of another embodiment of the attitude acceleration constraint device provided in this application;

[0048] Figure 7 This is a schematic diagram of the structure of an embodiment of the computer storage medium provided in this application. Detailed Implementation

[0049] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0050] To address the above issues, this application proposes a posture acceleration constraint method based on small line segment look-ahead preprocessing using unit quaternions, in order to improve the motion efficiency and motion stability of the robot in arbitrary pose curves.

[0051] Please see details. Figure 1 and Figure 2 , Figure 1 This is a flowchart illustrating an embodiment of the attitude acceleration constraint method provided in this application. Figure 2 This is a schematic diagram illustrating the operation flow of the attitude acceleration constraint method provided in this application. The attitude acceleration constraint method of this application can be applied to an attitude acceleration constraint device, such as a collaborative robot or a handling robot, or other types of robots. It can also be applied to the processing system mounted in the attitude acceleration constraint device, or to a control system other than the attitude acceleration constraint device.

[0052] like Figure 1 As shown, the attitude acceleration constraint method in this application embodiment may specifically include the following steps:

[0053] Step S11: Obtain the robot's pose curve and any three pose points of the pose curve.

[0054] In this embodiment, the attitude acceleration constraint device acquires the pose curve in the robot's planned trajectory, as shown in the figure. Figure 3 , Figure 3 This is a schematic diagram of an embodiment of the robot pose curve provided in this application. Figure 3 As shown, points A, B, C, D, E, and F are pose points after discretization of an arbitrary pose curve. The attitude acceleration constraint device acquires... Figure 3The attitude acceleration constraint method provided in this application can be applied to any three pose points in the pose curve. The following is an example of three pose points, A, B and C. It should be noted that the following method is also applicable to other pose point combinations, such as B, C and D; D, E and F, etc.

[0055] Specifically, let the pose coordinates of points A, B, and C be: A(x A ,y A ,z A ,a A ,b A ,c A ),B(x B ,y B ,z B ,a B ,b B ,c B ),C(x C ,y C ,z C ,a C ,b C ,c C Where xyz coordinates are the position coordinates of the pose point, and abc coordinates are the attitude coordinates of the pose point.

[0056] Step S12: Obtain the first pose line segment and the second pose line segment formed by connecting any three pose points in sequence, as well as the pose point connecting the first pose line segment and the second pose line segment.

[0057] In this embodiment, the attitude acceleration constraint device acquires a first pose segment AB formed by connecting points A and B, and a second pose segment BC formed by connecting points B and C. Point B is the connecting pose point of the first pose segment AB and the second pose segment BC.

[0058] Step S13: Based on the position and attitude synchronization planning relationship, obtain the first attitude velocity vector of the connecting pose point in the first pose line segment.

[0059] In this embodiment, the attitude acceleration constraint device needs to obtain the attitude velocity vectors connecting the pose points, specifically including the first attitude velocity vector of the connecting pose point on the first pose line segment and the second attitude velocity vector on the second pose line segment. For example, the first attitude velocity vector ω connecting pose point B on the first pose line segment AB. B Connecting pose point B to the second pose line segment BC, the second attitude velocity vector ω B’ .

[0060] For details on calculating the first attitude velocity vector, please refer to [link / reference needed]. Figure 4 , Figure 4yes Figure 1 The diagram shows the detailed process of step S13 in the attitude acceleration constraint method. It should be noted that the process of calculating the second attitude velocity vector is the same as the process of calculating the first attitude velocity vector, and will not be repeated here.

[0061] like Figure 4 As shown, the attitude acceleration constraint method in this application embodiment may specifically include the following steps:

[0062] Step S131: Obtain the first pose point of the first pose segment.

[0063] In this embodiment of the application, the attitude acceleration constraint device obtains the first attitude point A of the first attitude segment AB.

[0064] Step S132: Obtain the first quaternion of the first pose point and the connection quaternion of the connected pose points.

[0065] In this embodiment of the application, the attitude acceleration constraint device calculates the length of the first attitude segment AB:

[0066]

[0067] Similarly, the attitude acceleration constraint device calculates the length of the second pose segment BC:

[0068]

[0069] The attitude acceleration constraint device obtains the first quaternion q of the first attitude point A based on the attitude coordinates of the first attitude point A. A Similarly, the connection quaternion q connecting pose point B can be obtained. B And the second quaternion q of the second pose point C C .

[0070] Step S133: Use the first quaternion and the connecting quaternion to determine the unit quaternion angle of the first pose segment.

[0071] In this embodiment, the attitude acceleration constraint device uses a first quaternion and a connecting quaternion to determine the unit quaternion angle of the first pose segment, and uses a second quaternion and a connecting quaternion to determine the unit quaternion angle of the second pose segment:

[0072]

[0073] It should be noted that for any two unit quaternions q s ,q e θ is the angle between two unit quaternions, and s∈[0,1] is the normalized path scalar.

[0074] Step S134: Based on the position and attitude synchronization planning relationship, according to the unit quaternion angle, the first quaternion, and the connection quaternion, obtain the first connection quaternion derivative of the connection pose point in the first pose line segment.

[0075] In this embodiment, when sinθ→0, unit quaternion interpolation uses linear interpolation (LERP); otherwise, spherical linear interpolation (SLERP) is used.

[0076]

[0077] It should be noted that interpolation between any two poses can also use other interpolation methods in other embodiments, including but not limited to: NLERP (Normalized Linear Interpolation), etc.

[0078] Then, differentiating q(s) with respect to time yields:

[0079]

[0080] The attitude acceleration constraint device performs attitude interpolation on the first attitude segment AB, based on the relationship between position and attitude synchronization planning. The time derivative of the quaternion connecting pose point B, i.e., the derivative of the first connected quaternion, is expressed as:

[0081]

[0082] in, v is the normalized path scalar derivative with respect to time. B Let be the linear velocity of the point B connected to the pose.

[0083] Similarly, the attitude acceleration constraint device performs attitude interpolation on the second pose segment BC, based on the relationship between position and attitude synchronization planning. The time derivative of the quaternion connecting pose point B is expressed as:

[0084]

[0085] Step S135: Determine the first attitude velocity vector using the derivative of the first connected quaternion and the connected quaternion.

[0086] In this embodiment of the application, for any unit quaternion q = [q w q x q y q z ] Tand its time derivative With attitude velocity vector ω=[ω x ω y ω z ] T The following relationship exists:

[0087]

[0088] Therefore, the attitude acceleration constraint device performs attitude interpolation on the first attitude segment AB. At this time, the first attitude velocity vector at point B is:

[0089]

[0090] Similarly, the attitude acceleration constraint device performs attitude interpolation on the second pose segment BC. At this time, the second attitude velocity vector at point B is:

[0091]

[0092] Step S14: Based on the position and attitude synchronization planning relationship, obtain the second attitude velocity vector of the connection point in the second pose line segment.

[0093] In the embodiments of this application, the process of calculating the second attitude velocity vector has been described in detail in steps S131 to S135, and will not be repeated here.

[0094] Step S15: Construct an attitude acceleration constraint inequality using the first attitude velocity vector and the second attitude velocity vector.

[0095] In this embodiment, the attitude acceleration constraint device constructs an attitude acceleration constraint inequality based on the change in the attitude velocity vector connecting pose point B between the first pose segment AB and the second pose segment BC:

[0096]

[0097] Where dt is the interpolation period, A max This represents the maximum attitude acceleration.

[0098] Step S16: Solve the attitude acceleration constraint inequality to obtain the maximum linear velocity value of the connected pose points.

[0099] In this embodiment, the attitude acceleration constraint device solves the attitude acceleration constraint inequality of equation (11) to obtain the linear velocity v of the connected pose point B. B The maximum value.

[0100] The approach to transforming the existing technical problem in this application is as follows: For segment AB, based on the relationship between position and attitude synchronization planning, the attitude velocity vector at point B is expressed as an expression about the unit quaternions corresponding to the attitudes of points A and B, and the linear velocity of point B; for segment BC, based on the relationship between position and attitude synchronization planning, the attitude velocity vector at point B is expressed as an expression about the unit quaternions corresponding to the attitudes of points B and C, and the linear velocity of point B. Based on the change in the attitude velocity vector at point B, an attitude acceleration constraint inequality is constructed. Solving the attitude acceleration constraint problem is then transformed into solving a problem about linear velocity constraints.

[0101] In this embodiment, the attitude acceleration constraint device acquires the robot's pose curve and any three pose points of the pose curve; it acquires a first pose line segment and a second pose line segment formed by sequentially connecting the three pose points, as well as the connecting pose points of the first and second pose line segments; based on the position and attitude synchronization planning relationship, it acquires the first attitude velocity vector of the connecting pose point in the first pose line segment; based on the position and attitude synchronization planning relationship, it acquires the second attitude velocity vector of the connecting pose point in the second pose line segment; it constructs an attitude acceleration constraint inequality using the first and second attitude velocity vectors; and it solves the attitude acceleration constraint inequality to obtain the maximum linear velocity value of the connecting pose point. The attitude acceleration constraint of this application is simple and effective. In the look-ahead preprocessing of small line segments with position as the main axis, attitude acceleration can be constrained by constraining the linear velocity at each discrete point, thereby improving the motion efficiency and motion stability of the robot's arbitrary pose curve.

[0102] The above embodiments are merely one common example of this application and do not constitute any limitation on the technical scope of this application. Therefore, any minor modifications, equivalent changes, or alterations made to the above content based on the substance of the solution of this application shall still fall within the scope of the technical solution of this application.

[0103] Please continue reading Figure 5 , Figure 5 This is a schematic diagram of an embodiment of the attitude acceleration constraint device provided in this application. The attitude acceleration constraint device 30 includes an acquisition module 31, a vector module 32, and a constraint module 33.

[0104] The acquisition module 31 is used to acquire the robot's pose curve and acquire any three pose points of the pose curve.

[0105] The acquisition module 31 is further configured to acquire the first pose line segment and the second pose line segment formed by connecting the three pose points in sequence, as well as the connection pose point between the first pose line segment and the second pose line segment.

[0106] The vector module 32 is used to obtain the first attitude velocity vector of the connecting pose point on the first pose line segment based on the position and attitude synchronization planning relationship.

[0107] The vector module 32 is also used to obtain the second attitude velocity vector of the connecting pose point in the second pose line segment based on the position and attitude synchronization planning relationship.

[0108] The constraint module 33 is used to construct an attitude acceleration constraint inequality using the first attitude velocity vector and the second attitude velocity vector.

[0109] The constraint module 33 is used to solve the attitude acceleration constraint inequality to obtain the maximum linear velocity value of the connected pose point.

[0110] Please continue reading Figure 6 , Figure 6 This is a schematic diagram of another embodiment of the attitude acceleration constraint device provided in this application. The attitude acceleration constraint device 500 of this application embodiment includes a processor 51, a memory 52, an input / output device 53, and a bus 54.

[0111] The processor 51, memory 52, and input / output device 53 are respectively connected to the bus 54. The memory 52 stores program data, and the processor 51 is used to execute the program data to implement the attitude acceleration constraint method described in any of the above embodiments.

[0112] In this embodiment, processor 51 can also be referred to as a CPU (Central Processing Unit). Processor 51 may be an integrated circuit chip with signal processing capabilities. Processor 51 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor, or processor 51 can be any conventional processor.

[0113] This application also provides a computer storage medium; please refer to the following: Figure 7 , Figure 7 This is a schematic diagram of a computer storage medium according to an embodiment of the present application. The computer storage medium 600 stores program data 61, which is used to implement the attitude acceleration constraint method of any of the above embodiments when executed by the processor.

[0114] When the embodiments of this application are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0115] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. An attitude acceleration constraint method, characterized in that, The attitude acceleration constraint method includes: Obtain the robot's pose curve, and obtain any three pose points of the pose curve; Obtain the first pose line segment and the second pose line segment formed by connecting any three pose points in sequence, as well as the pose point connecting the first pose line segment and the second pose line segment. Based on the position and attitude synchronization planning relationship, the first attitude velocity vector of the connected pose point in the first pose line segment is obtained; wherein, the position and attitude synchronization planning relationship is: the derivative of the normalized path scalar with respect to time is determined by the ratio of linear velocity to pose line segment length; the normalized path scalar is... ; Based on the position and attitude synchronization planning relationship, the second attitude velocity vector of the connected pose point in the second pose line segment is obtained; Construct an attitude acceleration constraint inequality using the first attitude velocity vector and the second attitude velocity vector; Solving the attitude acceleration constraint inequality yields the maximum linear velocity value of the connected pose point; The method of obtaining the first attitude velocity vector of the connected pose point on the first pose line segment based on the position and attitude synchronization planning relationship includes: Obtain the first pose point of the first pose line segment; Obtain the first quaternion of the first pose point and the connection quaternion of the connected pose points; The unit quaternion angle of the first pose line segment is determined using the first quaternion and the connection quaternion. Based on the position and attitude synchronization planning relationship, according to the unit quaternion included angle, the first quaternion and the connection quaternion, the first connection quaternion derivative of the connection pose point in the first pose line segment is obtained; The first attitude velocity vector is determined using the derivative of the first connected quaternion and the connected quaternion.

2. The attitude acceleration constraint method according to claim 1, characterized in that, The method based on the position and attitude synchronization planning relationship, according to the unit quaternion angle, the first quaternion, and the connection quaternion, obtains the first connection quaternion derivative of the connected pose point in the first pose line segment, including: When the sine value of the angle between the unit quaternions is less than a preset value, based on the position and state synchronization planning relationship, linear interpolation is used to obtain the first connection quaternion derivative of the connection pose point in the first pose line segment according to the first quaternion and the connection quaternion. When the sine value of the angle between the unit quaternions is greater than or equal to a preset value, based on the position and state synchronization planning relationship, spherical linear interpolation is used to obtain the first connecting quaternion derivative of the connecting pose point in the first pose line segment according to the angle between the unit quaternions, the first quaternion, and the connecting quaternion.

3. The attitude acceleration constraint method according to claim 1, characterized in that, The coordinates of a pose point include position coordinates and attitude coordinates; The step of obtaining the first quaternion of the first pose point and the connection quaternion of the pose points includes: Based on the attitude coordinates of the first pose point, obtain the first quaternion; Based on the attitude coordinates of the connected pose points, the connected quaternion is obtained.

4. The attitude acceleration constraint method according to claim 1, characterized in that, The step of determining the unit quaternion angle between the first pose line segment and the connecting quaternion using the first quaternion includes: Calculate the cosine value of the first quaternion and the connected quaternion; The unit quaternion angle of the first pose line segment is determined based on the cosine value.

5. The attitude acceleration constraint method according to claim 1, characterized in that, The attitude acceleration constraint inequality is: the ratio of the magnitude of the difference between the first attitude velocity vector and the second attitude velocity vector to the interpolation period is less than or equal to the maximum attitude acceleration.

6. An attitude acceleration constraint device, characterized in that, The attitude acceleration constraint device includes an acquisition module, a vector module, and a constraint module; wherein... The acquisition module is used to acquire the robot's pose curve and acquire any three pose points of the pose curve. The acquisition module is also used to acquire the first pose line segment and the second pose line segment formed by connecting the three pose points in sequence, as well as the connection pose point between the first pose line segment and the second pose line segment. The vector module is used to obtain the first attitude velocity vector of the connected pose point on the first pose line segment based on the position and attitude synchronization planning relationship; wherein, the position and attitude synchronization planning relationship is: the derivative of the normalized path scalar with respect to time is determined by the ratio of linear velocity to the pose line segment length; the normalized path scalar is... ; The vector module is also used to obtain the second attitude velocity vector of the connected pose point in the second pose line segment based on the position and attitude synchronization planning relationship; The constraint module is used to construct an attitude acceleration constraint inequality using the first attitude velocity vector and the second attitude velocity vector. The constraint module is used to solve the attitude acceleration constraint inequality to obtain the maximum linear velocity value of the connected pose point; The vector module is further configured to: obtain the first pose point of the first pose segment; obtain the first quaternion of the first pose point and the connection quaternion of the connected pose point; determine the unit quaternion angle of the first pose segment using the first quaternion and the connection quaternion; based on the position and attitude synchronization planning relationship, obtain the first connection quaternion derivative of the connected pose point in the first pose segment according to the unit quaternion angle, the first quaternion and the connection quaternion; and determine the first attitude velocity vector using the first connection quaternion derivative and the connection quaternion.

7. A robot-based attitude acceleration constraint device, characterized in that, The attitude acceleration constraint device includes a memory and a processor coupled to the memory; The memory is used to store program data, and the processor is used to execute the program data to implement the attitude acceleration constraint method as described in any one of claims 1 to 5.

8. A computer storage medium, characterized in that, The computer storage medium is used to store program data, which, when executed by the computer, is used to implement the attitude acceleration constraint method as described in any one of claims 1 to 5.

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