Robot motion simulation method

Abstract

The invention provides a robot motion simulation method. The method comprises the following steps: establishing a first kinematic model of a robot; defining a motion instruction of the first kinematic model to obtain a second kinematic model; the motion instructions comprise a joint motion instruction, a linear motion instruction, an arc motion instruction and an absolute joint motion instruction; and acquiring a simulation task, and performing robot motion simulation according to the simulation task based on the second kinematic model. Compared with the prior art, the robot motion simulation method provided by the invention is simpler and more efficient, focuses on the motion simulation requirement of the core industrial robot, and avoids the accumulation of redundant functions, thereby reducing the complexity and resource consumption of the system. According to the method, the development period can be shortened, the investment of hardware and software resources can be remarkably reduced, and the cost of robot simulation is effectively reduced.

Description

Technical Field

[0001] The invention is applicable to the technical field of robots, and in particular relates to a robot motion simulation method. Background Art

[0002] With the rapid development of industrial automation and intelligent manufacturing technology, industrial robots are gradually becoming an indispensable key supporting equipment in the manufacturing industry. They not only significantly improve production efficiency, but also effectively reduce labor costs and operating errors. Thanks to their strong continuous working ability, robots can operate uninterruptedly without stopping due to fatigue, thus ensuring the continuity and consistency of production, making product quality more stable and the entire production process more efficient. In addition, in harsh or dangerous working environments, industrial robots can also replace humans to complete high-risk operations, greatly ensuring the safety of workers.

[0003] As a core tool in the application of industrial robots, robot simulation technology plays an irreplaceable role. Before implementing the robot solution, simulation technology can help engineers accurately simulate the robot's motion trajectory, work efficiency and potential risks. By testing and optimizing in a virtual environment, companies can repeatedly adjust the production process without affecting actual production, thereby significantly reducing the cost and time of production line adjustments. In addition, simulation technology also provides operators with the opportunity for simulated training, allowing them to improve their skills and safety awareness through virtual operations before becoming familiar with real equipment.

[0004] However, most existing robot simulation software is commercial, which not only requires expensive fees, but is also often closed source. This not only puts great cost pressure on developers, but also limits their flexibility and innovation. In addition, although some open source robot simulation software has cost advantages, they are often too complex and contain many redundant modules, resulting in high deployment costs, and are not easy to develop and implement quickly, increasing the difficulty of development and the complexity of maintenance.

[0005] Therefore, a new robot motion simulation method is urgently needed to solve the above technical problems. Summary of the invention

[0006] The invention provides a new robot motion simulation method, aiming to provide a simple, efficient and easy-to-implement robot motion simulation method.

[0007] The present invention provides a robot motion simulation method, which comprises the following steps:

[0008] S1. Establish the first kinematic model of the robot;

[0009] S2, defining the motion instructions of the first kinematic model to obtain a second kinematic model; the motion instructions include joint motion instructions, linear motion instructions, circular motion instructions and absolute joint motion instructions;

[0010] S3. Acquire a simulation task, and perform robot motion simulation according to the simulation task based on the second kinematic model.

[0011] Preferably, step S1 includes the following sub-steps:

[0012] S11, establishing a joint kinematic chain according to the relationship between each joint and connecting rod in the robot;

[0013] S12, defining the actively moving joint in the joint kinematic chain as an actuator, and setting the motion form, motion axis direction, joint torque range, joint motion range, and joint stiffness range of the actuator;

[0014] S13, setting the base coordinate system, tool coordinate system and workpiece coordinate system of the robot;

[0015] S14, establishing an inverse kinematics algorithm for the joint posture of the robot to obtain the kinematic model.

[0016] Preferably, the joint motion instruction is a fast joint motion instruction that enables the robot to perform nonlinear, multi-axis coordinated;

[0017] The linear motion instruction is an instruction for causing the end effector of the robot to move from a current position to a target position along a straight line;

[0018] The circular motion instruction is an instruction for causing the end effector of the robot to reach a target position along an arc line through a preset intermediate point;

[0019] The absolute joint motion instruction is an instruction for causing the robot to move directly from a current posture to a target posture.

[0020] Preferably, step S3 includes the following sub-steps:

[0021] S31, transforming the coordinates of the robot in the second kinematic model according to the simulation task, and initializing the interpolation algorithm and frame time;

[0022] S32. Determine whether the frame time is greater than the simulation time; if so, set the corresponding robot joint values ​​according to the intermediate posture of the robot in the second kinematic model; if not, set the corresponding robot joint values ​​according to the target posture of the robot in the second kinematic model.

[0023] Preferably, step S32 includes the following sub-steps:

[0024] S321. If the frame time is greater than the simulation time, determine whether the interpolation in the motion simulation of the robot in the second kinematic model is trajectory interpolation; if so, obtain the intermediate point pose matrix according to the frame time, and solve the intermediate posture of the robot in the second kinematic model according to the intermediate point pose matrix; if not, the interpolation in the motion simulation of the robot in the second kinematic model is joint value interpolation, and obtain the intermediate posture of the robot in the second kinematic model according to the frame time;

[0025] S322. If the frame time is less than the simulation time, determine whether the interpolation in the motion simulation of the robot in the second kinematic model is trajectory interpolation; if so, solve the target posture of the robot in the second kinematic model according to the target point in the simulation task; if not, the interpolation in the motion simulation of the robot in the second kinematic model is joint value interpolation, and obtain the target posture of the robot.

[0026] Preferably, the joint value interpolation satisfies the following relationship:

[0027]

[0028] v mp =v s +(ratio×v st );

[0029] Among them, v mp represents the joint value interpolation of the robot, v s represents the initial joint value, v st represents the interpolation difference, t represents the movement time of the robot, and T represents the total movement time of the robot.

[0030] Compared with the prior art, the robot motion simulation method proposed in the present invention establishes a first kinematic model of the robot; defines the motion instructions of the first kinematic model to obtain a second kinematic model; the motion instructions include joint motion instructions, linear motion instructions, circular motion instructions and absolute joint motion instructions; obtains a simulation task, and performs robot motion simulation according to the simulation task based on the second kinematic model. In this way, the robot motion simulation method proposed in the present invention is more concise and efficient, focusing on the motion simulation requirements of the core industrial robot, avoiding the accumulation of redundant functions, thereby reducing the complexity and resource consumption of the system. By adopting the robot motion simulation method of the present invention, developers can quickly build a fully functional simulation environment without having to have an in-depth understanding of complex simulation algorithms. This method not only helps to shorten the development cycle, but also significantly reduces the investment in hardware and software resources, effectively reducing the cost of robot simulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention will be described in detail below in conjunction with the accompanying drawings. The above and other aspects of the present invention will become clearer and easier to understand through the detailed description made in conjunction with the following drawings. In the accompanying drawings:

[0032] Figure 1 is a flowchart of a robot motion simulation method provided by an embodiment of the present invention;

[0033] Figure 2 is a flow chart of a robot motion simulation method provided by an embodiment of the present invention, which performs robot motion simulation according to the simulation task based on the second kinematic model;

[0034] Figure 3 It is a schematic diagram of speed and time of the robot motion simulation method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0036] Please refer to Figure 1-Figure 3 The present invention provides a robot motion simulation method, which comprises the following steps:

[0037] S1. Establish the first kinematic model of the robot;

[0038] In the embodiment of the present invention, a three-dimensional model of the robot is constructed and imported. A first kinematic model of the robot is established using three-dimensional modeling software such as SolidWorks, UnigraphicsNX, and 3D Studio Max. The first kinematic model maintains a kinematic relationship corresponding to the real object, that is, each moving part needs to be independently modeled and assembled in sequence according to the kinematic chain, and the model is imported into the three-dimensional scene.

[0039] Step S1 includes the following sub-steps:

[0040] S11, establishing a joint kinematic chain according to the relationship between each joint and connecting rod in the robot;

[0041] The joints and connecting rods of the robot model are split into sub-models, and the model coordinate system is adjusted to the joint rotation center or the appropriate position. According to the mechanical structure and motion characteristics of the robot, the child-parent relationship between the joints and connecting rods of the robot is obtained, and the joint motion chain of the robot is constructed. Then, the motion chain is corrected according to the standard size parameters or DH parameters in the robot technical manual, so that the relative positions of the joints fully meet the requirements, and the robot model is adjusted to a suitable posture, which is used as the initial posture of the robot.

[0042] S12. Define the actively moving joint in the joint motion chain as an actuator, and set the motion form, motion axis direction, joint torque range, joint activity range, and joint stiffness range of the actuator.

[0043] Define each joint that actively moves on the joint kinematic chain as an actuator. The actuator needs to record the pose matrix of each actuator model relative to the parent actuator, and define the motion form, motion axis direction, maximum value, minimum value, current value, etc. of each actuator. After the actuator is defined, the actuator can only perform a specified form of action along a certain motion axis within the allowed range. By defining all the joints of the robot as actuators along the kinematic chain in sequence, the motion structure of the entire robot is defined.

[0044] S13, setting the base coordinate system, tool coordinate system and workpiece coordinate system of the robot;

[0045] Define the robot's base coordinate system, tool coordinate system, and workpiece coordinate system. The base coordinate system of an industrial robot is usually set at the center of the robot's base, that is, the robot's installation base. In a multi-joint robot, the origin of the base coordinate system is usually the intersection of the axis of the robot's first joint and the base plane. The base coordinate system is a reference system that defines the robot's position and posture in the workspace. It is one of the reference points for all motion calculations, so the origin of the model coordinate system is moved to the origin of the base coordinate system, and this is used as the pose of the base coordinate system. The tool coordinate system is a coordinate system defined relative to the robot's end effector. The origin of the tool coordinate system is usually located at the operating point of the robot tool (such as the working point of the gripper, welding gun, or spray tool), and moves with the movement of the robot's end tool. Therefore, it is necessary to calibrate the origin of the tool coordinate system at the robot tool operating point and record the relative pose matrix between the coordinate system and the robot's end effector. The workpiece coordinate system is a coordinate system defined relative to a specific workpiece or working area in the robot's working environment. It is used to describe the spatial position and posture of the workpiece. The description of the workpiece coordinate system is based on the base coordinate system. Therefore, the origin of the workpiece coordinate system is calibrated where required in the scene, and the relative pose matrix between the coordinate system and the base coordinate system is recorded.

[0046] S14, establishing an inverse kinematics algorithm for the joint posture of the robot to obtain the kinematic model.

[0047] The robot's forward kinematics algorithm is used to calculate the pose matrix of the end joints through the known robot joint poses. In the simulation scenario, since the world pose matrix of the robot's end effector can be directly obtained, only the inverse kinematics algorithm needs to be constructed. The robot's inverse kinematics algorithm is used to inversely calculate the joint pose through the known end joint pose matrix. The inverse kinematics algorithm can be in the form of analytical method (algebraic method, geometric method) and numerical method, but the analytical method should be used first to obtain a faster solution speed.

[0048] S2. Define the motion instructions of the first kinematic model to obtain a second kinematic model; the motion instructions include joint motion instructions, linear motion instructions, circular motion instructions and absolute joint motion instructions.

[0049] In the embodiment of the present invention, the motion method is mainly defined for the motion programming instructions commonly used by industrial robots, and these instructions are encapsulated into corresponding motion functions. In this way, when the user writes a robot simulation program, he only needs to call the corresponding motion method to realize the corresponding robot simulation action, thereby simulating the programming process of a real robot.

[0050] In the embodiment of the present invention, the joint motion instruction is a fast joint motion instruction for the robot to perform nonlinear, multi-axis coordinated motion; the essence of this motion is that all joints move to the target posture at the same time from the current posture of the robot to the time required for the slowest joint motion. Therefore, the parameters required for the motion method corresponding to the instruction are the pose matrix of the target point relative to the selected workpiece coordinate system, the speed percentage, the selected tool coordinate system and the selected workpiece coordinate system.

[0051] The linear motion instruction is an instruction for making the end effector of the robot move from the current position to the target position along a straight line; therefore, the parameters required for the motion method corresponding to the instruction are the pose matrix of the target point relative to the selected workpiece coordinate system, the end motion speed, the selected tool coordinate system and the selected workpiece coordinate system.

[0052] The circular motion instruction is an instruction for making the robot's end effector reach the target position along an arc line through a preset intermediate point; therefore, the parameters required for the motion method corresponding to the instruction are the pose matrix of the target point relative to the selected workpiece coordinate system, the position of the intermediate point relative to the selected workpiece coordinate system, the end motion speed, the selected tool coordinate system and the selected workpiece coordinate system.

[0053] The absolute joint motion instruction is an instruction for causing the robot to move directly from the current posture to the target posture. Therefore, the parameter required by the motion method corresponding to the instruction is only the target posture value array.

[0054] Only part of the data processing and simulation task submission is done in the motion method of the encapsulated instruction. When the motion method is called, the incoming parameters are organized into simulation tasks and submitted to the simulation execution module, which is responsible for parsing and execution.

[0055] S3. Acquire a simulation task, and perform robot motion simulation according to the simulation task based on the second kinematic model.

[0056] In the embodiment of the present invention, step S3 includes the following sub-steps:

[0057] S31, transforming the coordinates of the robot in the second kinematic model according to the simulation task, and initializing the interpolation algorithm and frame time;

[0058] S32. Determine whether the frame time is greater than the simulation time; if so, set the corresponding robot joint values ​​according to the intermediate posture of the robot in the second kinematic model; if not, set the corresponding robot joint values ​​according to the target posture of the robot in the second kinematic model.

[0059] In the embodiment of the present invention, step S32 includes the following sub-steps:

[0060] S321. If the frame time is greater than the simulation time, determine whether the interpolation in the motion simulation of the robot in the second kinematic model is trajectory interpolation; if so, obtain the intermediate point pose matrix according to the frame time, and solve the intermediate posture of the robot in the second kinematic model according to the intermediate point pose matrix; if not, the interpolation in the motion simulation of the robot in the second kinematic model is joint value interpolation, and obtain the intermediate posture of the robot in the second kinematic model according to the frame time;

[0061] S322. If the frame time is less than the simulation time, determine whether the interpolation in the motion simulation of the robot in the second kinematic model is trajectory interpolation; if so, solve the target posture of the robot in the second kinematic model according to the target point in the simulation task; if not, the interpolation in the motion simulation of the robot in the second kinematic model is joint value interpolation, and obtain the target posture of the robot.

[0062] In an embodiment of the present invention, the joint value interpolation satisfies the following relationship:

[0063]

[0064] v mp =v s +(ratio×v st );

[0065] Among them, vmp represents the joint value interpolation of the robot, v s represents the initial joint value, v st represents the interpolation difference, t represents the movement time of the robot, and T represents the total movement time of the robot.

[0066] For details, please refer to Figure 2 First, determine whether there is a simulation task. If there is no simulation task, no operation needs to be performed in the current frame. If there is a simulation task, determine whether the simulation task has started. If the simulation task has not started, parse the task, initialize the interpolation algorithm, and set the frame time to zero.

[0067] Among them, the main content of the analytical simulation task is to transform the coordinates of the robot to facilitate the execution of the subsequent interpolation algorithm and the inverse kinematics algorithm. Except for the absolute joint motion method, the target value is the robot's target posture. The target values ​​of the other motion methods are the pose matrix of the target point relative to the selected workpiece coordinate system. It is necessary to convert the target point pose matrix into a pose matrix based on the base coordinates, and further convert it into the target pose matrix that the robot end effector needs to reach according to the selected tool coordinate system. This process can be expressed by formula (1), where M wp Indicates the selected workpiece coordinate system, M target-wp Represents the pose matrix of the target point relative to the selected workpiece coordinate system, M tool Indicates the selected tool coordinate system.

[0068] M=M wp ·M target-wp ·(M tool ) -1 (1)

[0069] The main content of initializing the interpolation algorithm is to calculate and record the data required by the interpolation algorithm. The traditional robot trajectory interpolation is the process of generating a series of intermediate points at equal intervals between the starting point and the target point. The intervals here can be equal time intervals in the time dimension or equal distance intervals in the space dimension. The usual practice is to generate all points on the trajectory path at one time and then execute the movement. However, the interpolation in robot motion simulation is different from the traditional trajectory interpolation. In robot motion simulation, interpolation is the process of calculating a single intermediate value in real time in each frame until the entire motion simulation is completed. The focus is on solving the current frame intermediate point posture or robot posture given the frame accumulation time, so that the robot's motion animation is continuous. According to the four motion instructions in step S2, the interpolation in motion simulation can be divided into trajectory interpolation and joint value interpolation.

[0070] Trajectory interpolation is the interpolation of the middle points of the robot's end effector trajectory, which can be divided into types such as straight lines, arcs, and curves. The main contents of its initialization are as follows. First, calculate and record some of the required data. For example, linear trajectory interpolation needs to record the starting point pose matrix and the end point pose matrix, calculate and record the vector from the starting point to the end point, and the straight line distance. Arc trajectory interpolation needs to record the starting point pose matrix, the middle point, and the end point pose matrix, calculate and record the arc's center coordinates, rotation axis unit vector, radius, angle, arc length and other data. Secondly, based on the calculated movement distance, as well as the current speed, acceleration, maximum speed, deceleration, target speed and other parameters passed in by the motion encapsulation method, calculate the speed-time diagram of the trajectory motion process. The speed-time diagram is as follows Figure 3 As shown in Figure 1, the rest are combinations of uniform acceleration, variable acceleration, uniform speed, uniform deceleration, and variable deceleration. From the speed-time graph, it is easy to calculate the distance of the middle point corresponding to a certain time point relative to the starting point.

[0071] Joint value interpolation refers to the process of solving the robot posture for each frame during the simulation movement driven by the joint motion method and the absolute joint motion method. That is, joint value interpolation is only the interpolation of joint values. The main contents of its initialization are as follows. First, according to the starting value, target value, acceleration, maximum speed, deceleration and other parameters of each joint, the speed-time diagram of each joint value interpolation is calculated. Secondly, the essence of the joint motion method and the absolute joint motion method is that the robot drives all joints to move to the target posture at the same time according to the time required for the slowest joint to move in the current posture. Therefore, it is necessary to find the slowest joint and its required time first. According to the constructed speed-time diagram of each joint, it is easy to get the movement time of each joint, and then the speed-time diagrams of the remaining joints are scaled in proportion to the maximum time, so that the movement time of all joints is consistent.

[0072] If the simulation task has been started, or the simulation task parsing and interpolation algorithm initialization have been completed, it is necessary to further determine whether the current frame time is greater than the simulation time.

[0073] If the frame time is less than the simulation time, it means that the simulation task has not been completed. Further determine the interpolation type of the current simulation task. If it is trajectory interpolation, obtain the pose matrix of the intermediate point from the interpolation algorithm according to the current frame time, and call the inverse kinematics algorithm to solve the robot's posture. If it is joint value interpolation, directly obtain the robot posture from the interpolation algorithm according to the current frame time, set the posture as the value of the corresponding joint of the robot, accumulate the current frame time, and end the current frame operation.

[0074] If the frame time is greater than the simulation time, it means that the simulation task has been completed. Further determine the interpolation type of the current simulation task. If it is trajectory interpolation, call the inverse kinematics algorithm to solve the robot posture corresponding to the target posture matrix. If it is joint value interpolation, directly set the target posture to the value of the corresponding joint of the robot, clear the simulation task and corresponding variables, and end the current frame operation.

[0075] Among them, the calculation method of obtaining the pose matrix of the intermediate point or the intermediate pose of the robot from the interpolation algorithm is as follows.

[0076] The exercise time ratio can be obtained by using the exercise time t and the total exercise time T according to formula (2).

[0077]

[0078] The position of the intermediate point of the linear trajectory interpolation can be obtained by equation (3). mp is the position vector of the midpoint, V s is the position vector of the starting point, V st is the vector from the starting point to the target point. The above vectors are based on the base coordinates.

[0079] V mp =V s +V st *ratio (3)

[0080] The circular interpolation first calculates the rotation angle by equation (4): where θ total is the rotation angle corresponding to the arc. According to equation (5), the rotation axis unit vector a = (a x ,a y ,a z ) constructs the skew-symmetric matrix A of the rotation axis vector. Then constructs the rotation matrix R by equation (6), where I is the 3X3 unit matrix. Then calculates the midpoint position vector V according to equation (7): mp , where V o is the position vector of the arc center, V os is the vector from the center of the circle to the starting point. The above vectors are all based on the base coordinates.

[0081]

[0082] V mp =V o +R×V os (7)

[0083] The posture matrix of the middle point is composed of the starting posture matrix R s 、Target posture matrix R tand the motion ratio are calculated. First, the posture matrix R is converted from equation (8) to equation (12) s and R t Convert to quaternion q s and q t , where R r Represents the attitude matrix. Then, two quaternions q are calculated by equation (13): t and q t The angle θ between them. Then the attitude quaternion q of the middle point is calculated by formula (14): mp , and normalized by formula (15), we get the unit quaternion q n , where ||q mp || represents the quaternion q mp Finally, the unit quaternion q is converted into n The pose matrix R converted to the midpoint mp .

[0084] q=[q w ,q x ,q y ,q z ] (8)

[0085]

[0086] θ=arccos(q s ·q t ) = arccos(q sw q tw +q sx q tx +q sy q ty +q sz q tz ) (13)

[0087]

[0088] Therefore, the pose matrix of the intermediate point of trajectory interpolation can be expressed as T.

[0089]

[0090] The interpolation of a single joint value can be calculated by formula (18), where v s is the initial joint value, v st is the interpolation difference, that is, the target joint value minus the initial joint value.

[0091] v mp =v s +(ratio×v st ) (18)

[0092] Compared with the prior art, the robot motion simulation method proposed in the present invention establishes a first kinematic model of the robot; defines the motion instructions of the first kinematic model to obtain a second kinematic model; the motion instructions include joint motion instructions, linear motion instructions, circular motion instructions and absolute joint motion instructions; obtains a simulation task, and performs robot motion simulation according to the simulation task based on the second kinematic model. In this way, the robot motion simulation method proposed in the present invention is more concise and efficient, focusing on the motion simulation requirements of the core industrial robot, avoiding the accumulation of redundant functions, thereby reducing the complexity and resource consumption of the system. By adopting the robot motion simulation method of the present invention, developers can quickly build a fully functional simulation environment without having to have an in-depth understanding of complex simulation algorithms. This method not only helps to shorten the development cycle, but also significantly reduces the investment in hardware and software resources, effectively reducing the cost of robot simulation.

[0093] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0094] The embodiments of the present invention are described above in conjunction with the accompanying drawings. What is disclosed is only the preferred embodiment of the present invention. However, the present invention is not limited to the above-mentioned specific implementation manner. The above-mentioned specific implementation manner is only illustrative rather than restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms and equivalent changes without departing from the scope of protection of the purpose of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A robot motion simulation method, characterized in that: The robot motion simulation method comprises the following steps: S1. Establish the first kinematic model of the robot; S2, defining the motion instructions of the first kinematic model to obtain a second kinematic model; the motion instructions include joint motion instructions, linear motion instructions, circular motion instructions and absolute joint motion instructions; S3. Acquire a simulation task, and perform robot motion simulation according to the simulation task based on the second kinematic model.

2. The robot motion simulation method according to claim 1, characterized in that: Step S1 includes the following sub-steps: S11, establishing a joint kinematic chain according to the relationship between each joint and connecting rod in the robot; S12, defining the actively moving joint in the joint kinematic chain as an actuator, and setting the motion form, motion axis direction, joint torque range, joint motion range, and joint stiffness range of the actuator; S13, setting the base coordinate system, tool coordinate system and workpiece coordinate system of the robot; S14, establishing an inverse kinematics algorithm for the joint posture of the robot to obtain the kinematic model.

3. The robot motion simulation method according to claim 1, characterized in that: The joint motion instruction is a fast joint motion instruction that enables the robot to execute nonlinear, multi-axis coordinated joint motion; The linear motion instruction is an instruction for causing the end effector of the robot to move from a current position to a target position along a straight line; The circular motion instruction is an instruction for causing the end effector of the robot to reach a target position along an arc line through a preset intermediate point; The absolute joint motion instruction is an instruction for causing the robot to move directly from a current posture to a target posture.

4. The robot motion simulation method according to claim 1, characterized in that: Step S3 includes the following sub-steps: S31, transforming the coordinates of the robot in the second kinematic model according to the simulation task, and initializing the interpolation algorithm and frame time; S32. Determine whether the frame time is greater than the simulation time; if so, set the corresponding robot joint values ​​according to the intermediate posture of the robot in the second kinematic model; if not, set the corresponding robot joint values ​​according to the target posture of the robot in the second kinematic model.

5. The robot motion simulation method according to claim 4, characterized in that: Step S32 includes the following sub-steps: S321, if the frame time is greater than the simulation time, determining whether the interpolation in the motion simulation of the robot in the second kinematic model is trajectory interpolation; if so, obtaining an intermediate point pose matrix according to the frame time, and solving the intermediate pose of the robot in the second kinematic model according to the intermediate point pose matrix; If not, the interpolation in the motion simulation of the robot in the second kinematic model is joint value interpolation, and the intermediate posture of the robot in the second kinematic model is obtained according to the frame time; S322, if the frame time is less than the simulation time, determining whether the interpolation in the motion simulation of the robot in the second kinematic model is trajectory interpolation; if so, solving the target posture of the robot in the second kinematic model according to the target point in the simulation task; If not, the interpolation in the motion simulation of the robot in the second kinematic model is joint value interpolation to obtain the target posture of the robot.

6. The robot motion simulation method according to claim 5, characterized in that: The joint value interpolation satisfies the following relationship: v mp =v s +(ratio×v st ); Among them, v mp represents the joint value interpolation of the robot, v s represents the initial joint value, v st represents the interpolation difference, t represents the movement time of the robot, and T represents the total movement time of the robot.

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