A robot trajectory testing device and method

Abstract

This invention belongs to the field of debugging technology for six-degree-of-freedom vertical multi-joint industrial robots, specifically relating to a robot trajectory testing device and method. The device includes a base, motor I, motor II, link assembly I, and link assembly II. Motors I and II are both mounted on the base, and their rotation axes are collinear. The output end of motor I is connected to link assembly I, and the output end of motor II is connected to link assembly II. Link assemblies I and II form a parallel four-bar linkage structure. The front end of link assembly I is calibrated to the origin of the equivalent coordinate system. Motors I and II drive link assemblies I and II to swing, respectively, resulting in coupled motion between them, causing the origin of the equivalent coordinate system to move along a U-shaped trajectory. This invention achieves the goal of using a desktop testing device to optimize the cycle time of the robot's key performance indicators under a user-defined application scenario through a control model.

Description

Technical Field

[0001] This invention belongs to the field of debugging technology for six-degree-of-freedom vertical multi-joint industrial robots, specifically relating to a robot trajectory testing device and method. Background Technology

[0002] The iteration cycle for new robot products is getting shorter and shorter, and competition is becoming increasingly fierce. Therefore, utilizing robot testing equipment to enable mechanical, electrical, and software processes to proceed in parallel, thereby improving R&D efficiency and gaining a market advantage, is one of the effective ways to enhance the competitiveness of robot companies.

[0003] Software developers and debuggers often work with robot prototypes, which is cumbersome and inefficient. A key challenge is how to use desktop robot testing equipment to optimize motion and dynamics planning to achieve the optimal cycle time for key robot performance indicators within a user-defined application scenario. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide a robot trajectory testing device and method, so as to achieve the goal of using a desktop robot testing device to optimize the motion planning and dynamics planning of the robot's key performance indicators, such as the timing, under a user-given application scenario.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] This invention provides a robot trajectory testing device for load trajectory testing of a six-degree-of-freedom vertical multi-joint industrial robot. The device includes a base, motor I, motor II, linkage assembly I, and linkage assembly II. Motor I and motor II are both mounted on the base, and their rotation axes are collinear. The output end of motor I is connected to linkage assembly I, and the output end of motor II is connected to linkage assembly II. Linkage assembly I and linkage assembly II are connected to form a parallel four-bar linkage structure. The front end of linkage assembly I is marked with the origin of the equivalent coordinate system. Motor I and motor II respectively drive linkage assembly I and linkage assembly II to swing, and the linkage assembly I and linkage assembly II perform coupled motion, causing the origin of the equivalent coordinate system to move along a U-shaped trajectory.

[0007] In one possible implementation, the linkage assembly I includes a link I and a link II, wherein the lower end of link I is connected to the output shaft of the motor I, and the upper end of link I is connected to link II via a hinge pair;

[0008] Linkage assembly II includes link III and link VI. One end of link III is connected to the output end of motor II, and the other end of link III is connected to the lower end of link VI via a hinge pair. The upper end of link VI is connected to the rear end of link II via a hinge pair. Link VI is parallel to link I and of equal length.

[0009] In one possible implementation, the length of link II is greater than the length of link III, and the origin of the equivalent coordinate system is located at the front end of link II.

[0010] In one possible implementation, the axis of each of the hinge pairs is parallel to the rotation axes of motor I and motor II; the plane containing the gate-shaped trajectory is perpendicular to the rotation axes of motor I and motor II.

[0011] In one possible implementation, the hinged joint includes a rotary shaft, an end cap, and connecting screws. The rotary shaft has a T-shaped structure, with one end passing through through holes in two connecting rods of the connecting rod assembly I and the connecting rod assembly II, and the other end being axially limited by a shoulder. The end cap is positioned at one end of the rotary shaft and is fixedly connected to the rotary shaft by the connecting screws.

[0012] In one possible implementation, the output shaft of motor I is connected to the connecting rod I by a key, and the end of the output shaft of motor I is provided with a rotary cover; the rotary cover is in contact with the end face of the output shaft of motor I and the connecting rod I by the inner and outer end faces respectively, and the rotary cover is fixedly connected to the output shaft of motor I and the connecting rod I by the inner screw and the outer screw of the shaft end respectively.

[0013] In one possible implementation, the base includes a base plate, upright plates, and side plates, wherein two upright plates are arranged parallel to each other on the base plate, the upright plates are positioned to the base plate by cylindrical pins, and are fixedly connected to the base plate by fixing screws; each upright plate has a side plate connected to the base plate on its outer side; the motor I and the motor II are arranged opposite to each other on the two upright plates.

[0014] In one possible implementation, the gate-shaped trajectory includes sequentially continuous ascending and descending straight line segments AB, transition space curve BC, horizontal straight line segment CD, transition space curve DE, and ascending and descending straight line segments EF.

[0015] In one possible implementation, under the same working conditions at any position, the robot trajectory testing device and the six-degree-of-freedom vertical multi-joint industrial robot have the same load on the moving parts and inertia ratio of the motor I as the load on the moving parts and inertia ratio of the motor rotor on the two bearings of the six-degree-of-freedom vertical multi-joint industrial robot; the same load on the moving parts and inertia ratio of the motor II as the load on the moving parts and inertia ratio of the motor rotor on the three bearings of the six-degree-of-freedom vertical multi-joint industrial robot.

[0016] Another aspect of the present invention provides a testing method using the aforementioned robot trajectory testing device, comprising the following steps:

[0017] Given a gate-shaped trajectory;

[0018] Set the actual motion parameters of the equivalent coordinate system origin. The actual motion parameters include velocity, acceleration, and moment of inertia.

[0019] Based on the actual motion parameters of the equivalent coordinate system origin, the output rotation control quantities of motor I and motor II are set, thereby controlling the rotation of motor I and motor II and driving the equivalent coordinate system origin to move along a gate-shaped trajectory.

[0020] Under the same posture, the ratio of the driving inertia of motor I and motor II is the same as that of a six-degree-of-freedom vertical multi-joint industrial robot.

[0021] This invention provides a robot trajectory testing device and method. Through a desktop robot testing device, the software development team and the mechanical body structure design team can work in parallel and effectively advance the process, conforming to ergonomics. The physical information of the robot trajectory testing device is simpler than that of the actual robot, such as link inertia, facilitating rapid iteration of the control model and identification of control defects. The robot trajectory testing device has higher accuracy than the actual robot, facilitating subsequent comparative accuracy analysis.

[0022] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0023] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0024] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0025] Figure 1 This is an isometric view of the load trajectory of the six-degree-of-freedom vertical multi-joint industrial robot in this invention;

[0026] Figure 2 This is a side view of the load trajectory of the six-degree-of-freedom vertical multi-joint industrial robot in this invention;

[0027] Figure 3 This is an isometric view of a robot trajectory testing device according to the present invention;

[0028] Figure 4 for Figure 3 Enlarged view of a section at point I;

[0029] Figure 5This is a schematic diagram of the hinge pair in this invention;

[0030] Figure 6 This is a schematic diagram of the connection between the motor and the connecting rod in this invention.

[0031] In the diagram: 1-Six-DOF vertical multi-joint industrial robot; 101-Base; 102-Lumbar support; 103-Upper arm; 104-Elbow; 105-Forearm; 106-Wrist; 107-End flange; 108-Swing arm; 109-Rear pull rod; 110-Two-axis motor; 111-Two-axis reducer; 112-Three-axis motor; 113-Three-axis reducer; 2-End effector; 201-Tool coordinate system origin; 3-Gateway trajectory; 4-Robot trajectory testing device; 40 1-Origin of equivalent coordinate system, 402-Base, 4021-Base plate, 4022-Upright plate, 4023-Side plate, 4024-Fixing screw, 4025-Cylindrical pin, 403-Connecting rod I, 404-Connecting rod II, 405-Motor I, 406-Motor II, 408-Connecting rod III, 409-Connecting rod VI, 410-Rotating shaft, 411-End cover, 412-Connecting screw, 413-Rotating cover, 414-Outer screw of shaft end, 415-Inner screw of shaft end, 416-Key. Detailed Implementation

[0032] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0033] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0034] This invention provides a robot trajectory testing device and method for load trajectory testing of a six-degree-of-freedom vertical multi-joint industrial robot 1. Figure 1 , Figure 2As shown, the six-degree-of-freedom vertical multi-joint industrial robot 1 includes a base 101, a waist seat 102, an upper arm 103, an elbow 104, a forearm 105, a wrist 106, and an end flange 107. There are driving axes between adjacent parts, namely, one axis between the base 101 and the waist seat 102, two axes between the waist seat 102 and the upper arm 103, three axes between the upper arm 103 and the elbow 104, four axes between the elbow 104 and the forearm 105, five axes between the forearm 105 and the wrist 106, and six axes between the wrist 106 and the end flange 107. The above six axes are the defined axes in the robot control mathematical model.

[0035] In an embodiment of the present invention, a six-degree-of-freedom vertical multi-joint industrial robot 1 has a linkage-following mechanical model, which includes a two-axis motor 110, a two-axis reducer 111, a three-axis motor 112, a three-axis reducer 113, a swing arm 108, and a rear pull rod 109. The two-axis reducer 111 and the three-axis reducer 113 are coaxially mounted on a waist support 102. The two-axis motor 110 and the three-axis motor 112 are respectively connected to the input shafts of the two-axis reducer 111 and the three-axis reducer 113. The output end of the two-axis reducer 111 drives the upper arm 103 to rotate relative to the waist support 102 on two axes, and the output end of the three-axis reducer 113 drives the lower swing arm 108 to rotate relative to the waist support 102. The lower end of the rear pull rod 109 is connected to the swing arm 108 via a hinge pair, and the upper end of the rear pull rod 109 is connected to the elbow 104 via a hinge pair. Therefore, the three-axis motor 112 drives the three-axis rotation between the upper arm 103 and the elbow 104. Based on the mechanical model of the linkage-following relationship of the six-degree-of-freedom vertical multi-joint industrial robot 1, a mathematical model of the linkage-following relationship, a kinematic model of the linkage-following relationship, and a control model of the linkage-following relationship can be established.

[0036] like Figure 2 As shown, an end effector 2 is installed at the end of the end flange 107. The end effector 2 contains a tool coordinate system TCP, and the origin of the tool coordinate system TCP is the tool coordinate system origin 201 on the end effector 2. The control model of the linkage follow-up relationship allows the controllable tool coordinate system origin 201 to follow a U-shaped trajectory 3. The U-shaped trajectory 3 includes sequentially continuous lifting straight segments AB, transition space curve BC, horizontal straight segment CD, transition space curve DE, and lifting straight segments EF. Lifting straight segments AB and EF need to be customized according to the working conditions. For example, in the application scenario of packing wine boxes into cardboard boxes, the height of the cardboard box has practical engineering significance. If the trajectory is not straight, the cardboard box will be damaged.

[0037] like Figure 3-5As shown, an embodiment of the present invention provides a robot trajectory testing device 4, including a base 402, a motor I 405, a motor II 406, a linkage assembly I, and a linkage assembly II. Motor I 405 and motor II 406 are both mounted on the base 402, and their rotation axes are collinear. The output end of motor I 405 is connected to linkage assembly I, and the output end of motor II 406 is connected to linkage assembly II. Linkage assembly I and linkage assembly II are connected to form a parallel four-bar linkage structure. The front end of linkage assembly I is calibrated to the equivalent coordinate system origin 401. Motor I 405 and motor II 406 respectively drive linkage assembly I and linkage assembly II to swing, and linkage assembly I and linkage assembly II perform coupled motion, causing the equivalent coordinate system origin 401 to move along a U-shaped trajectory 3.

[0038] like Figure 3 As shown, in an embodiment of the present invention, linkage assembly I includes linkage I 403 and linkage II 404, wherein the lower end of linkage I 403 is connected to the output shaft of motor I 405, and the upper end of linkage I 403 is connected to linkage II 404 via a hinge pair. Linkage assembly II includes linkage III 408 and linkage VI 409, wherein one end of linkage III 408 is connected to the output end of motor II 406, the other end of linkage III 408 is connected to the lower end of linkage VI 409 via a hinge pair, the upper end of linkage VI 409 is connected to the rear end of linkage II 404 via a hinge pair, and linkage VI 409 is parallel to and of the same length as linkage I 403.

[0039] Furthermore, the length of link II 404 is greater than the length of link III 408, and the origin 401 of the equivalent coordinate system is located at the front end of link II 404. The axes of each hinge pair are parallel to the rotation axes of motor I 405 and motor II 406; the plane containing the U-shaped trajectory 3 is perpendicular to the rotation axes of motor I 405 and motor II 406.

[0040] Specifically, such as Figure 5 As shown, the hinged joint includes a rotating shaft 410, an end cap 411, and a connecting screw 412. The rotating shaft 410 has a T-shaped structure. One end of the rotating shaft 410 passes through the through holes on the two connecting rods in the connecting rod assembly I and the connecting rod assembly II, and the other end is axially limited by a shoulder. The end cap 411 is positioned at one end of the rotating shaft 410 and is fixedly connected to the rotating shaft 410 by the connecting screw 412.

[0041] Specifically, such as Figure 6 As shown, the output shaft of motor I 405 is connected to connecting rod I 403 via key 416, and a rotary cover 113 is provided at the end of the output shaft of motor I 405. The rotary cover 113 is in contact with the end face of the output shaft of motor I 405 and the connecting rod I 403 via its inner and outer end faces, respectively, and the rotary cover 113 is fixedly connected to the output shaft of motor I 405 and the connecting rod I 403 via inner screw 415 and outer screw 414, respectively.

[0042] like Figure 4 As shown in the embodiment of the present invention, the base 402 includes a base plate 4021, a vertical plate 4022, and a side plate 4023. Two vertical plates 4022 are arranged parallel to each other on the base plate 4021. The vertical plates 4022 are positioned to the base plate 4021 by cylindrical pins 4025 and are fixedly connected to the base plate 4021 by fixing screws 4024. A side plate 4023 connected to the base plate 4021 is provided on the outer side of each vertical plate 4022. Motor I 405 and Motor II 406 are arranged opposite to each other on the two vertical plates 4022. Specifically, the base plate 4021, vertical plate 4022, and side plate 4023 are orthogonally connected to provide a rigid spatial support structure for the motors. The base plate 4021, vertical plate 4022, and side plate 4023 all have a hollowed-out central structure. The connection between any two of the base plate 4021, the upright plate 4022, and the side plate 4023 is achieved by adding two fixing screws 4024 and two cylindrical pins 4025 at the hollowed-out area for positioning and connection.

[0043] In the embodiments of the present invention, under the same working conditions of robot trajectory testing device and six-degree-of-freedom vertical multi-joint industrial robot 1 at any position, the ratio of the load on the moving parts borne by motor I 405 to the inertia of the motor rotor is the same as the ratio of the load on the moving parts borne by the two bearings of the six-degree-of-freedom vertical multi-joint industrial robot 1 to the inertia of the motor rotor; the ratio of the load on the moving parts borne by motor II 406 to the inertia of the motor rotor is the same as the ratio of the load on the moving parts borne by the three bearings of the six-degree-of-freedom vertical multi-joint industrial robot 1 to the inertia of the motor rotor.

[0044] An embodiment of the present invention provides a robot trajectory testing device that simulates a six-degree-of-freedom vertical multi-joint industrial robot 1 under a user-given application scenario. Through a control model, the motion planning and dynamics planning achieve optimal cycle time for the robot's key performance indicators, shortening the actual debugging cycle of the six-degree-of-freedom vertical multi-joint industrial robot 1. The robot trajectory testing device 4 transforms the development control and prototype of new models from a serial waiting process to parallel development. Figure 1 As shown, the six-DOF vertical multi-joint industrial robot 1 is a prototype, belonging to the heavy-duty robot class with a load capacity of 360kg, an arm span of 3200mm, and a motor of 10.8kw. Key outsourced components have long lead times, as do the castings of key structural parts. The design, processing, and assembly cycles total 11 months. Figure 3As shown, the robot trajectory testing device 4 is a desktop type, weighing only 8.4 kg, with a base length and width of 300 mm, and a motor power of 0.2 kW. The design, processing, and assembly cycle of the robot trajectory testing device 4 is 0.25 months. Therefore, by simulating the application conditions of a six-degree-of-freedom vertical multi-joint industrial robot 1 using the robot trajectory testing device 4, and optimizing the robot's key performance indicators such as cycle time, the development and control of the new model can be carried out in parallel with the prototype, shortening the production and debugging cycle.

[0045] like Figure 3 As shown, another embodiment of the present invention provides a robot trajectory testing method, implemented using the robot trajectory testing device as described in the above embodiment. This testing method includes the following steps:

[0046] Given a gate-shaped trajectory 3;

[0047] Set the actual motion parameters of the equivalent coordinate system origin 401. The actual motion parameters include velocity, acceleration and moment of inertia.

[0048] Based on the actual motion parameters of the equivalent coordinate system origin 401, the output rotation control quantities of motor I 405 and motor II 406 are set, thereby controlling the rotation of motor I 405 and motor II 406, driving the equivalent coordinate system origin 401 to move along the gate-shaped trajectory 3.

[0049] Under the same posture, the ratio of the driving inertia of motors I 405 and II 406 is the same as that of the six-degree-of-freedom vertical joint industrial robot 1. That is, under the same posture of the driving angles of motors I 405 and II 406 in the experimental setup, the two inertia ratios are the same as those of the six-degree-of-freedom vertical joint industrial robot 1. The gate-shaped trajectory 3 completed by the robot trajectory test device 4 and the six-degree-of-freedom vertical joint industrial robot 1 are similar in shape but different in size.

[0050] By controlling the velocity, acceleration, and moment of inertia of the equivalent coordinate system origin 401 using motor I 405 and motor II 406, the rhythm of the gate-shaped trajectory 3 of the equivalent coordinate system origin 401 is optimized.

[0051] Specifically, for the two-axis control system, the following parameters are input for kinematic and dynamic programming: given the portal trajectory 3, the length of the mathematical model rod, set angles, angular velocities, angular acceleration parameters, input coordinates of key points on the trajectory, continuous trajectory approximation level, damping and exponential composite S-programming strategy, mass of moving rods, coordinates of the center of mass, moment of inertia, joint nonlinear friction model and other mechanical nonlinear characteristics, vibration suppression parameters. This allows the realization of the actual motion and dynamic parameters of the equivalent coordinate system origin 401.

[0052] During the debugging phase of the six-DOF vertical articulated industrial robot 1, the speed, acceleration, and moment of inertia of the tool coordinate system origin 201 are controlled by the two-axis motor 110 and the three-axis motor 112 to further optimize the cycle time of the gantry trajectory 3 of the tool coordinate system origin 201, thereby achieving the goal of optimizing the cycle time, a key performance indicator of the robot. When the six-DOF vertical articulated industrial robot 1 introduces one, four, five, and six axes to participate in the motion, the trajectory of the tool coordinate system origin 201 is a three-dimensional gantry trajectory, and the plane on which the trajectory lies is not orthogonal to the axes of the two and three axes.

[0053] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A robot trajectory testing device for load trajectory testing of a six-degree-of-freedom vertical multi-joint industrial robot (1), characterized in that, The system includes a base (402), motor I (405), motor II (406), linkage assembly I and linkage assembly II. Motor I (405) and motor II (406) are both mounted on the base (402), and the rotation axes of motor I (405) and motor II (406) are collinear. The output end of motor I (405) is connected to linkage assembly I, and the output end of motor II (406) is connected to linkage assembly II. Linkage assembly I and linkage assembly II are connected to form a parallel four-bar linkage structure. The front end of linkage assembly I is marked with the equivalent coordinate system origin (401). Motor I (405) and motor II (406) drive linkage assembly I and linkage assembly II to swing respectively. Linkage assembly I and linkage assembly II perform coupled motion, so that the equivalent coordinate system origin (401) moves along the gate-shaped trajectory (3). The linkage assembly I includes linkage I (403) and linkage II (404), wherein the lower end of linkage I (403) is connected to the output shaft of motor I (405), and the upper end of linkage I (403) is connected to linkage II (404) through a hinge pair; Linkage assembly II includes link III (408) and link VI (409), wherein one end of link III (408) is connected to the output end of motor II (406), the other end of link III (408) is connected to the lower end of link VI (409) through a hinge pair, the upper end of link VI (409) is connected to the rear end of link II (404) through a hinge pair, and link VI (409) is parallel to and of the same length as link I (403); Under the same working conditions at any position, the ratio of the load on the moving parts borne by the motor I (405) to the inertia of the motor rotor is the same as that of the two bearings of the six-degree-of-freedom vertical multi-joint industrial robot (1); the ratio of the load on the moving parts borne by the motor II (406) to the inertia of the motor rotor is the same as that of the three bearings of the six-degree-of-freedom vertical multi-joint industrial robot (1).

2. The robotic trajectory testing device of claim 1, wherein, The length of link II (404) is greater than the length of link III (408), and the origin (401) of the equivalent coordinate system is located at the front end of link II (404).

3. The robotic trajectory testing apparatus of claim 1, wherein, The axis of each hinge pair is parallel to the rotation axis of motor I (405) and motor II (406); the plane containing the gate-shaped trajectory (3) is perpendicular to the rotation axis of motor I (405) and motor II (406).

4. The robotic trajectory testing apparatus of claim 1, wherein, The hinge assembly includes a rotating shaft (410), an end cap (411), and a connecting screw (412). The rotating shaft (410) has a T-shaped structure. One end of the rotating shaft (410) passes through the through holes on the two connecting rods of the connecting rod assembly I and the connecting rod assembly II, and the other end is axially limited by a shoulder. The end cap (411) is positioned at one end of the rotating shaft (410) and is fixedly connected to the rotating shaft (410) by the connecting screw (412).

5. The robotic trajectory testing apparatus of claim 1, wherein, The output shaft of motor I (405) is connected to the connecting rod I (403) via a key (416). The end of the output shaft of motor I (405) is provided with a rotary cover (113). The rotary cover (113) is in contact with the end face of the output shaft of motor I (405) and the connecting rod I (403) via its inner and outer end faces, respectively. The rotary cover (113) is fixedly connected to the output shaft of motor I (405) and the connecting rod I (403) via an inner screw (415) and an outer screw (414) at the shaft end, respectively.

6. The robotic trajectory testing apparatus of claim 1, wherein, The base (402) includes a base plate (4021), upright plates (4022) and side plates (4023). Two upright plates (4022) are arranged parallel to each other on the base plate (4021). The upright plates (4022) are positioned with the base plate (4021) by cylindrical pins (4025) and are fixedly connected to the base plate (4021) by fixing screws (4024). The outer side of each upright plate (4022) is provided with a side plate (4023) connected to the base plate (4021). The motor I (405) and the motor II (406) are arranged opposite to each other on the two upright plates (4022).

7. The robotic trajectory testing apparatus of claim 1, wherein, The gate-shaped trajectory (3) includes sequentially continuous ascending and descending straight line segments AB, transition space curve BC, horizontal straight line segment CD, transition space curve DE, and ascending and descending straight line segments EF.

8. A test method using the robot trajectory test device according to any one of claims 1 to 7, characterized by, Includes the following steps: Given a gate-shaped trajectory (3); Set the actual motion parameters of the equivalent coordinate system origin (401). The actual motion parameters include velocity, acceleration and moment of inertia. Based on the actual motion parameters of the equivalent coordinate system origin (401), the output rotation control quantities of motor I (405) and motor II (406) are set, thereby controlling the rotation of motor I (405) and motor II (406) to drive the equivalent coordinate system origin (401) to walk along the gate-shaped trajectory (3); Under the same posture, the ratio of the driving inertia of motor I (405) and motor II (406) is the same as that of the six-degree-of-freedom vertical multi-joint industrial robot (1).

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