Robot motion instruction correction method and device and nonvolatile storage medium

Abstract

The invention discloses a robot motion instruction correction method and device and a nonvolatile storage medium. The method comprises the following steps: acquiring a first base coordinate system corresponding to a first robot in a target area and a second base coordinate system corresponding to a second robot when the first robot is replaced; according to the first base coordinate system and the second base coordinate system in the target area, position and attitude installation errors are determined; a motion control instruction is received, and the motion control instruction is sent based on the position of the first robot; and correcting the motion control instruction based on the position and attitude installation error to obtain a target motion control instruction of the second robot. The technical problems that after the robot is replaced at the same station, position and posture errors exist, so that motion control of the robot deviates, and precision is low are solved.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, and in particular to a correction method and device for robot motion instructions and a non-volatile storage medium. Background Art

[0002] When different robots are installed at the same workstation or the same robot is reinstalled at the workstation, due to the differences between the robots and the influence of the installation accuracy, failure to perform corrections will lead to errors in the subsequent motion control of the robot.

[0003] Currently, the following methods can improve the accuracy of program points after reinstalling the robot or replacing a different robot to a certain extent:

[0004] 1. The robot's mounting base provides locating pin holes. Using locating pins when installing the robot can ensure the installation accuracy to a certain extent, but the locating pins have a certain limit to the accuracy. The installation accuracy is reflected in the error at the end, which will increase with the increase of the robot's arm span.

[0005] 2. The staff has to re-teach the program points. However, the on-site programs are generally more complicated, with many points, and re-teaching will inevitably affect the on-site operation efficiency.

[0006] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0007] The embodiments of the present invention provide a method, device and non-volatile storage medium for correcting robot motion instructions, so as to at least solve the technical problem that after replacing the robot at the same workstation, there will be position and posture errors, resulting in deviation and low precision in the robot's motion control.

[0008] According to one aspect of an embodiment of the present invention, a method for correcting robot motion instructions is provided, including: acquiring a first base coordinate system corresponding to a first robot in a target area and replacing the first robot with a second base coordinate system corresponding to a second robot; determining position and posture installation errors based on the first base coordinate system and the second base coordinate system in the target area; receiving motion control instructions, wherein the motion control instructions are issued based on the position of the first robot; and correcting the motion control instructions based on the position and posture installation errors to obtain target motion control instructions for the second robot.

[0009] Optionally, the position and attitude installation errors are determined according to the first base coordinate system and the second base coordinate system in the target area, including: setting multiple key points in the target area; establishing a key point coordinate system according to any one of the multiple key points as the origin; determining the coordinates of the multiple key points in the key point coordinate system; obtaining the coordinates of the multiple key points in the first base coordinate system and the coordinates of the multiple key points in the second base coordinate system, respectively; determining the position and attitude installation errors based on the coordinates of the multiple key points in the key point coordinate system, the coordinates of the multiple key points in the first base coordinate system and the coordinates of the multiple key points in the second base coordinate system.

[0010] Optionally, the motion control instructions include Cartesian motion instructions and joint motion instructions, wherein the Cartesian motion instructions represent motion control instructions for the end effector of the robot, and the joint motion instructions represent motion control instructions for the joints of the robot.

[0011] Optionally, when the motion control instruction is a Cartesian motion instruction, the motion control instruction is corrected based on the position and attitude installation error to obtain the target motion control instruction of the second robot, including: obtaining the position coordinates and attitude of the target motion position in the Cartesian motion instruction in the first base coordinate system; determining the position coordinates and attitude of the target motion position in the second base coordinate system according to the position and attitude installation error and the position coordinates and attitude in the first base coordinate system; determining the target motion control instruction of the second robot according to the position coordinates and attitude of the target motion position in the second base coordinate system.

[0012] Optionally, the target motion control instructions of the second robot are determined according to the position coordinates and posture of the target motion position in the second base coordinate system, including: acquiring the user control coordinate system corresponding to the second robot; converting the position coordinates and posture of the target motion position in the second base coordinate system into the position coordinates and posture in the user control coordinate system; and determining the target motion control instructions of the second robot according to the position coordinates and posture in the user control coordinate system.

[0013] Optionally, in the case where the motion control instruction is a joint motion instruction, the motion control instruction is corrected based on the position and posture installation error to obtain the target motion control instruction of the second robot, including: obtaining the joint position in the joint motion instruction, wherein the joint position represents the rotation angle of the corresponding joint; determining the Cartesian position and posture of the robot end effector corresponding to the joint motion instruction in the first base coordinate system according to the joint position in the joint motion instruction, wherein the Cartesian position and posture represent the position coordinates and posture of the corresponding joint; determining the Cartesian position and posture of the robot end effector corresponding to the joint motion instruction in the second base coordinate system according to the position and posture installation error and the Cartesian position and posture of the robot end effector corresponding to the joint motion instruction in the first base coordinate system; determining the target joint position corresponding to the second robot according to the Cartesian position and posture of the robot end effector corresponding to the joint motion instruction in the second base coordinate system; determining the target motion control instruction of the second robot according to the target joint position corresponding to the second robot.

[0014] Optionally, according to the Cartesian pose of the robot end effector corresponding to the joint motion instruction in the second base coordinate system, the target joint position corresponding to the second robot is determined, including: obtaining DH parameters corresponding to the second robot, wherein the DH parameters include connecting rod length, connecting rod offset, connecting rod torsion angle and joint angle; performing inverse kinematic solution according to the DH parameters corresponding to the second robot and the Cartesian pose of the robot end effector corresponding to the joint motion instruction in the second base coordinate system, to determine the target joint position corresponding to the second robot.

[0015] According to another aspect of an embodiment of the present invention, a correction device for robot motion instructions is also provided, including: an acquisition module, used to acquire a first base coordinate system corresponding to a first robot in a target area and replace the first robot with a second base coordinate system corresponding to a second robot; an error determination module, used to determine a position and posture installation error based on the first base coordinate system and the second base coordinate system in the target area; a receiving module, used to receive a motion control instruction, wherein the motion control instruction is issued based on the position of the first robot; and a correction module, used to correct the motion control instruction based on the position and posture installation error to obtain a target motion control instruction for the second robot.

[0016] According to another aspect of an embodiment of the present invention, a non-volatile storage medium is provided, the non-volatile storage medium including a stored program, wherein when the program is running, a device where the non-volatile storage medium is located is controlled to execute a correction method for any one of the above-mentioned robot motion instructions.

[0017] According to yet another aspect of an embodiment of the present invention, a computer device is provided. The computer device includes a processor, and the processor is used to run a program. When the program is run, any one of the above-mentioned methods for correcting a robot motion instruction is executed.

[0018] According to another aspect of the embodiments of the present invention, there is further provided a computer program product, including a computer program, which implements any one of the above-mentioned methods for correcting robot motion instructions when the computer program is executed by a processor.

[0019] In an embodiment of the present invention, a correction method for robot motion instructions is adopted, by obtaining a first base coordinate system corresponding to a first robot in a target area and replacing the first robot with a second base coordinate system corresponding to a second robot; determining position and posture installation errors according to the first base coordinate system and the second base coordinate system in the target area; receiving motion control instructions, wherein the motion control instructions are issued based on the position of the first robot; based on the position and posture installation errors, correcting the motion control instructions to obtain target motion control instructions for the second robot, thereby achieving the purpose of quickly restoring the robot to a working state after replacing it, thereby realizing the technical effect of improving the motion control accuracy of the robot, and further solving the technical problem that after replacing the robot at the same workstation, there will be position and posture errors, resulting in deviations in the motion control of the robot and low accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0021] Figure 1 A hardware structure block diagram of a computer terminal for implementing a correction method for robot motion instructions is shown;

[0022] Figure 2 is a flow chart of a method for correcting a robot motion instruction provided in an embodiment of the present invention;

[0023] Figure 3 is a schematic diagram of a base coordinate system of a robot motion instruction provided in an optional embodiment of the present invention;

[0024] Figure 4 is a schematic diagram of a key point coordinate system of a robot motion instruction provided in an optional embodiment of the present invention;

[0025] Figure 5 It is a structural block diagram of a correction device for robot motion instructions provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] First, some nouns or terms that appear in the description of the embodiments of the present application are subject to the following interpretations:

[0029] A collaborative robot, also known as a cobot (Collaborative Robot), is a robot designed to work alongside humans or to operate safely directly within a human work area.

[0030] Cartesian space refers to a three-dimensional space that uses a Cartesian coordinate system to describe the position of a point in space. In the field of robotics and motion control, Cartesian space is often used to describe the position and posture of a robot's end effector in three-dimensional space. The Cartesian coordinate system consists of three mutually perpendicular coordinate axes, generally marked as X, Y, and Z axes. The position of each point is determined by the coordinate values ​​on these three axes, namely (X, Y, Z).

[0031] Joint space describes a set of values ​​of the robot's joint angles and is another way to represent robot motion control. In joint space, the angular position of each joint directly corresponds to a coordinate axis. The conversion between joint space and Cartesian space can be performed through the robot's kinematic model (such as forward kinematics and inverse kinematics calculations), which is a very critical part of robot control and programming.

[0032] According to an embodiment of the present invention, a method embodiment of a method for correcting robot motion instructions is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0033] The method embodiment provided in the first embodiment of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 1 FIG. 1 shows a hardware structure block diagram of a computer terminal for implementing a correction method for robot motion instructions. Figure 1 As shown, the computer terminal 10 may include one or more (102a, 102b, ..., 102n are used to illustrate) processors (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the BUS bus), a network interface, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0034] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computer terminal 10. As described in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0035] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the correction method of the robot motion instruction in the embodiment of the present invention. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, the correction method of the robot motion instruction of the above-mentioned application program is realized. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the computer terminal 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0036] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 10 .

[0037] Compared with industrial robots, collaborative robots have technical features such as graphical programming and collaborative work. The technical threshold requirements for operators are relatively low, and there are no strict processes or requirements for operation programming to restrict operators. When collaborative robots are put into use on site, program points are not all based on user coordinate system teaching. For scenes where the user coordinate system is not taught, there is no way to ensure the accuracy of the points by simply re-teaching the user coordinate system. Therefore, for collaborative robots, it is even more necessary to calibrate the control accuracy of the replaced robot. The present invention proposes an embodiment of a method for correcting robot motion instructions, Figure 2 FIG. 1 is a flow chart of a method for correcting a robot motion instruction according to an embodiment of the present invention. Figure 2 As shown, the method comprises the following steps:

[0038] Step S202 , obtaining a first base coordinate system corresponding to the first robot in the target area and a second base coordinate system corresponding to replacing the first robot with a second robot.

[0039] In this step, in actual applications, the situation of changing workstations between collaborative robots will be more frequent. In addition, when the robot body fails and parts need to be replaced or due to improper installation, it also needs to be disassembled and repaired or replaced with a new collaborative robot and reinstalled on the workstation. It is often necessary to replace robots, so it is necessary to perform precision calibration on the replaced robot. The first robot is the robot in the target area before replacement, and the second robot is the robot in the target area after replacement, that is, the second robot is used to replace the first robot. The first robot and the second robot here can be the same robot or different robots.

[0040] The first base coordinate system corresponding to the first robot and the second base coordinate system corresponding to the second robot in the target area can be obtained, wherein the base coordinate system of the robot is a three-dimensional coordinate system fixed on the base of the robot, which is usually used as a reference coordinate system for robot kinematic and dynamic calculations. It is usually set at the base of the robot or the fixed point of the first joint. The origin of the base coordinate system can be the installation point of the robot or any selected point on the base of the robot, but it is generally selected at a position that is convenient for describing the overall movement of the robot. The direction of the coordinate axis depends on the design of the robot, but it usually matches the main movement direction of the robot. For example, the X-axis may represent the forward direction of the robot, the Y-axis represents the left-right direction, and the Z-axis represents the up-down direction.

[0041] Figure 3 : is a schematic diagram of the base coordinate system of the robot motion instruction provided according to an optional embodiment of the present invention, wherein the robot base coordinate system {base} is abbreviated as {b}. The robot base coordinate system is fixedly connected to the robot mounting base, and the robot before replacement / reinstallation, that is, the first base coordinate system corresponding to the first robot is called {b1}, and the robot after replacement / reinstallation, that is, the second base coordinate system corresponding to the second robot is called {b2}. Figure 3 As shown, because there will be certain errors after reinstallation, there will also be certain deviations between the first base coordinate system and the second base coordinate system. When the control instructions are issued, the control instructions are still generated according to the relevant configuration of the first robot, which will result in low control accuracy. Therefore, the control instructions can be corrected based on the position and posture installation errors of the first base coordinate system and the second base coordinate system to improve the control accuracy of the robot.

[0042] Step S204, determining position and attitude installation errors according to the first base coordinate system and the second base coordinate system in the target area.

[0043] In this step, the points in the target area are fixed, that is, the position and attitude installation errors can be determined by calculating the coordinates of the same points in the first base coordinate system and the second base coordinate system. It is also possible to establish a fixed regional coordinate system in the target area and use coordinate transformation to determine the position and attitude installation errors. For example, the position and attitude installation errors can be determined based on the homogeneous transformation matrix. The specific method is as follows:

[0044]

[0045]

[0046]

[0047] The fixed regional coordinate system established in the target area may be a world coordinate system, that is, {world}, abbreviated as {w}. Represents the position description of the robot tool end point in the world coordinate system {w}, Represents the pose description of the first base coordinate system {b1} in the world coordinate system {w}, represents the position description of the robot tool end point in the first base coordinate system {b1}, Represents the pose description of the second base coordinate system {b2} in the world coordinate system {w}, Represents the position description of the robot tool end point in the second base coordinate system {b2}. It is the position and attitude installation error.

[0048] Position and attitude installation errors can include attitude differences caused by reinstallation, or position differences caused by reinstallation. Among them, attitude difference refers to the difference in orientation (i.e., rotation angle) between two coordinate systems. In three-dimensional space, the attitude of a coordinate system can be described by three independent rotational degrees of freedom (commonly called roll, pitch, and yaw). Attitude difference can be expressed as a rotation matrix, quaternion, or Euler angle, which describes the rotation operation required to transform from one coordinate system to another. In the field of robotics, attitude difference is often used to represent the rotation change of the robot end effector relative to its original position after relocation or reinstallation. Position difference refers to the difference in spatial position between the origins of two coordinate systems. In three-dimensional space, it can be expressed as three independent translational degrees of freedom (displacement in the X, Y, and Z directions). Position difference simply describes the amount of translation required to move from the origin of one coordinate system to the origin of another coordinate system. In robotic applications, position difference describes the translation change of the base of the robot relative to its original position after reinstallation or replacement.

[0049] Specifically, in, That is the difference in posture caused by reinstallation. Position difference caused by reinstallation.

[0050] Step S206, receiving a motion control instruction, wherein the motion control instruction is issued based on the position of the first robot.

[0051] In this step, motion control instructions can be received, and the motion control instructions are issued based on the position of the first robot. Because after the robot is replaced, the corresponding program control will not change. Reprogramming will result in low efficiency. Therefore, the motion control instructions can be corrected based on the position and posture installation errors to improve the control accuracy of the robot. Among them, the motion control instructions may include controlling the movement of the robot, such as circular motion, linear motion, etc., and may also include controlling the movement of the robot's joints, wherein the robot may have multiple joints, and each joint can be controlled individually.

[0052] Step S208: Correct the motion control instruction based on the position and posture installation errors to obtain the target motion control instruction of the second robot.

[0053] In this step, based on the position and posture installation error, the motion control instruction can be corrected, that is, the motion control instruction corresponding to the position of the first robot is corrected to the instruction based on the position of the second robot, and the target motion control instruction corresponding to the second robot is obtained. Among them, the motion control instruction may include the motion control instruction of the Cartesian space and the motion control instruction of the joint space. For the motion control instruction of the Cartesian space, the point position after reinstallation can be calculated based on the position and posture installation error, and the corrected Cartesian motion instruction target position is obtained, and then the target motion control instruction corresponding to the second robot is determined. For the joint space motion instruction, the Cartesian posture corresponding to the instruction can be obtained by kinematic forward solution calculation, and the Cartesian posture is the same as the Cartesian space motion instruction: the point position after reinstallation is calculated based on the position and posture installation error, and then the kinematic inverse solution is performed in combination with the robot DH parameters to obtain the corrected joint motion instruction target position, and then the target motion control instruction corresponding to the second robot is determined.

[0054] Through the above steps, the purpose of quickly restoring the robot to a working state after replacement is achieved, thereby realizing the technical effect of improving the robot's motion control accuracy, and further solving the technical problem that after replacing the robot at the same workstation, there will be position and posture errors, resulting in deviations in the robot's motion control and low accuracy.

[0055] As an optional embodiment, the position and attitude installation errors are determined according to the first base coordinate system and the second base coordinate system in the target area, including: setting multiple key points in the target area; establishing a key point coordinate system according to any one of the multiple key points as the origin; determining the coordinates of the multiple key points in the key point coordinate system; obtaining the coordinates of the multiple key points in the first base coordinate system and the coordinates of the multiple key points in the second base coordinate system, respectively; and determining the position and attitude installation errors based on the coordinates of the multiple key points in the key point coordinate system, the coordinates of the multiple key points in the first base coordinate system, and the coordinates of the multiple key points in the second base coordinate system.

[0056] Optionally, multiple key points can be set in the target area, wherein the multiple key points are non-collinear key points. That is, the number of the multiple key points is not less than three and they are not located on the same straight line. A key point coordinate system can be established with any one of the multiple key points as the origin. The position of the key point coordinate system in the space where the target area is located is fixed, but the representation in the first base coordinate system and the second base coordinate system is different. Therefore, based on the coordinates of the multiple key points in the key point coordinate system, the first base coordinate system and the second base coordinate system, respectively, the position and posture installation errors can be determined.

[0057] For example, three non-collinear points, p1, p2, and p3, can be randomly selected in the space where the target area is located. A coordinate system can be established with any of the points as the origin. Taking p1 as an example, Figure 4 is a schematic diagram of a key point coordinate system of a robot motion instruction provided according to an optional embodiment of the present invention, such as Figure 4 As shown, the key point coordinate system {p1} is established with p1 as the origin as follows:

[0058]

[0059]

[0060]

[0061] This coordinate system is fixed in space, but its representation in different coordinate systems is different. For the coordinate system {p1}, and are the pose descriptions of {p1} under {b1} and {b2} respectively, and they are known values. The pose offset can be obtained according to the pose transformation: After determining the posture offset, the position offset can be obtained through the following posture transformation: The above transformation can complete the calibration of the installation error. The higher the accuracy of the re-teaching of the key points used for calibration, the higher the accuracy of the calibration model. Increasing the number of key points used for calibration can reduce the accuracy problem caused by teaching.

[0062] As an optional embodiment, the motion control instruction includes a Cartesian motion instruction and a joint motion instruction, wherein the Cartesian motion instruction represents a motion control instruction for an end effector of the robot, and the joint motion instruction represents a motion control instruction for a joint of the robot.

[0063] Optionally, the motion control instructions may include Cartesian motion instructions and joint motion instructions. In robot programming and control, motion instructions can be defined based on two different spaces: Cartesian Space and Joint Space. These two types of instructions are adapted to different application scenarios and requirements. Cartesian space motion instructions refer to instructions that directly specify the target position and posture of the robot in the Cartesian coordinate system (i.e., a three-dimensional rectangular coordinate system). This type of instruction is more intuitive, and the user can specify the X, Y, Z coordinates and rotational posture (such as pitch angle, yaw angle, and roll angle) of the robot end effector in space. When executing Cartesian space motion instructions, the robot control system automatically calculates the joint angles required to achieve the target posture, i.e., the inverse kinematics solution, and then controls the movement of each joint. Cartesian space motion instructions are usually used for tasks that require precise control of the robot's movement in space. Such instructions can directly specify the target position in an intuitive three-dimensional space without having to care about the robot's internal structure and joint motion details. Joint space motion instructions refer to instructions that directly specify the target angles of each joint of the robot. This type of instruction focuses on the joint movement of the robot. The movement of each joint is independently controlled, and can be positioned at a certain angle or move along a specific angle path. The joint space instruction directly reflects the structure and range of motion of the robot body. When executing the joint space motion instruction, the robot will move directly according to the joint angle target value in the instruction without the need for complex Cartesian pose to joint angle conversion calculations.

[0064] As an optional embodiment, when the motion control instruction is a Cartesian motion instruction, the motion control instruction is corrected based on the position and attitude installation error to obtain the target motion control instruction of the second robot, including: obtaining the position coordinates and attitude of the target motion position in the Cartesian motion instruction in the first base coordinate system; determining the position coordinates and attitude of the target motion position in the second base coordinate system according to the position and attitude installation error and the position coordinates and attitude in the first base coordinate system; determining the target motion control instruction of the second robot according to the position coordinates and attitude of the target motion position in the second base coordinate system.

[0065] Optionally, in the case where the motion control instruction is a Cartesian motion instruction, the position coordinates and posture of the target motion position in the Cartesian motion instruction in the first base coordinate system can be obtained first, wherein the position coordinates are X, Y, and Z coordinates, and the posture is the rotation posture (such as pitch angle, yaw angle, and roll angle). According to the position and posture installation error, the position coordinates and posture of the target motion position in the first base coordinate system can be converted into the position coordinates and posture in the second base coordinate system. According to the position coordinates and posture of the target motion position in the second base coordinate system, the target motion control instruction of the second robot can be determined. Among them, the position coordinates and posture of the target motion position in the Cartesian motion instruction in the first base coordinate system can be determined according to the configuration file of the first robot. Because the target motion position in the motion control instruction is usually determined based on the user coordinate system, the user coordinate system may not be the first base coordinate system. Therefore, the configuration file of the first robot can be obtained first, and the configuration file may include information such as the user coordinate system and the tool coordinate system. Among them, the user coordinate system is a user-defined coordinate system, which can be defined at any position in the robot workspace to simplify the writing of robot programs and the execution of tasks. The tool coordinate system is a coordinate system directly associated with the robot's end effector or tool (such as a gripper, welding gun, nozzle, etc.). It defines the position and orientation of the tool in the robot base or world coordinate system, and specifically defines the orientation and position of the tool relative to the robot base. Therefore, the target motion position in the motion control instruction is usually obtained in the user coordinate system and the tool coordinate system. Therefore, it is necessary to convert it into the position coordinates and posture in the first base coordinate system, and then correct it based on the position and posture installation errors to obtain the target motion control instruction corresponding to the second robot.

[0066] As an optional embodiment, the target motion control instructions of the second robot are determined according to the position coordinates and posture of the target motion position in the second base coordinate system, including: acquiring the user control coordinate system corresponding to the second robot; converting the position coordinates and posture of the target motion position in the second base coordinate system into the position coordinates and posture in the user control coordinate system; and determining the target motion control instructions of the second robot according to the position coordinates and posture in the user control coordinate system.

[0067] Optionally, motion control instructions are usually issued based on the user coordinate system. Therefore, after obtaining the position coordinates and posture of the target motion position in the second base coordinate system, it is necessary to convert them into the corresponding user coordinate system before the target motion control instructions of the second robot can be determined. Specifically, the steps for correcting the Cartesian space motion segment in the program according to the position and posture installation errors and the configuration file are as follows: first, according to the settings of the configuration file, tool coordinate system and user coordinate system, the position and posture of the end flange (end effector) under {b1} are obtained; then, according to the position and posture installation errors, the position and posture of the end flange under {b2} are calculated; finally, the Cartesian position and posture in the set user coordinate system and tool coordinate system are calculated according to the configuration file;

[0068] As an optional embodiment, in the case where the motion control instruction is a joint motion instruction, the motion control instruction is corrected based on the position and posture installation error to obtain the target motion control instruction of the second robot, including: obtaining the joint position in the joint motion instruction, wherein the joint position represents the rotation angle of the corresponding joint; determining the Cartesian position and posture of the robot end effector corresponding to the joint motion instruction in the first base coordinate system according to the joint position in the joint motion instruction, wherein the Cartesian position and posture represent the position coordinates and posture of the corresponding joint; determining the Cartesian position and posture of the robot end effector corresponding to the joint motion instruction in the second base coordinate system according to the position and posture installation error and the Cartesian position and posture of the robot end effector corresponding to the joint motion instruction in the first base coordinate system; determining the target joint position corresponding to the second robot according to the Cartesian position and posture of the robot end effector corresponding to the joint motion instruction in the second base coordinate system; determining the target motion control instruction of the second robot according to the target joint position corresponding to the second robot.

[0069] Optionally, in the case where the motion control instruction is a joint motion instruction, the joint position in the joint motion instruction can be obtained first, and the joint position is usually expressed as the angle of joint rotation. Therefore, the Cartesian position of the corresponding end flange (end effector) in the first base coordinate system can be determined according to the joint position in the joint motion instruction. According to the Cartesian position of the end flange in the first base coordinate system and the position and posture installation error, the Cartesian position in the second base coordinate system can be determined, and then the target joint position corresponding to the second robot can be determined by inverse kinematics, and then the target motion control instruction of the second robot can be determined. Specifically, according to the position and posture installation error and the DH parameter correction program of the two robots, the joint space motion segment: the Cartesian pose p1 of the end flange under {b1} can be calculated according to the DH parameters and joint position of the robot before reinstallation; then the pose of the end flange under {b2} is calculated according to the installation pose offset and p1; then the kinematic inverse solution is calculated according to the DH parameters of the second robot to determine the joint position of the second robot.

[0070] As an optional embodiment, the target joint position corresponding to the second robot is determined according to the Cartesian pose of the robot end effector corresponding to the joint motion instruction in the second base coordinate system, including: obtaining DH parameters corresponding to the second robot, wherein the DH parameters include connecting rod length, connecting rod offset, connecting rod torsion angle and joint angle; performing inverse kinematics solution according to the DH parameters corresponding to the second robot and the Cartesian pose of the robot end effector corresponding to the joint motion instruction in the second base coordinate system, to determine the target joint position corresponding to the second robot.

[0071] Optionally, DH parameters, the full name of which is Denavit-Hartenberg parameters, are a standardized method for describing the geometric relationship between robot links and joints. Among them, DH parameters include four key parameters, which are used to describe the geometric characteristics of the links and the kinematic characteristics of the joints, namely: Link length (L): also known as link offset (d), which represents the distance between the centers of the two joints along the joint axis. For revolute joints, this parameter is the vertical distance from the end of one link to the starting point of the other link along the joint axis. Link offset (r): also known as link spacing (a), represents the distance between the origin of the next link and the X-axis of the previous link along the X-axis of the previous link. Joint angle (α): represents the angle between the X-axis of the front and rear links, which is measured in the Z-axis direction in the joint plane. Joint displacement (θ): represents the angle between the Z-axis of the front and rear links, which is measured in the link plane and is also a measure of joint rotation.

[0072] The inverse kinematics solution refers to the process of calculating the robot joint angles required to achieve the target position and posture of the robot end effector in space. Inverse kinematics is to determine the internal joint configuration of the robot to achieve a specific end effector position. Therefore, the target joint position corresponding to the second robot can be determined by performing an inverse kinematics solution based on the DH parameters corresponding to the second robot and the Cartesian posture of the robot end effector corresponding to the joint motion instruction in the second base coordinate system.

[0073] Specifically, the DH parameters can be used to construct a forward kinematic model of the robot. This model can calculate the pose of the end effector based on the joint angles. This involves constructing a series of homogeneous transformation matrices, each corresponding to a joint. The desired Cartesian pose (the position and attitude of the end effector in space) is then represented by coordinates. The position can be represented by Cartesian coordinates (X, Y, Z), and the attitude can be represented by a rotation matrix, Euler angles, or quaternions. The inverse kinematics equations are established, where the inverse kinematics problem is usually expressed as solving a set of equations based on the forward kinematics model and the desired pose of the end effector. The inverse kinematics equations are then solved, and an iterative solution can be performed, starting from an initial guess of the joint angle, and the joint angle is iteratively updated using a numerical optimization algorithm until the pose of the end effector is close enough to the desired pose. The joint angle at this time is determined, which is the target joint position corresponding to the second robot.

[0074] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0075] Through the description of the above implementation methods, those skilled in the art can clearly understand that the correction method of the robot motion instruction according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0076] According to an embodiment of the present invention, there is also provided a robot motion instruction correction device for implementing the robot motion instruction correction method. Figure 5 is a structural block diagram of a correction device for robot motion instructions according to an embodiment of the present invention, such as Figure 5 As shown, the correction device for the robot motion instruction includes: an acquisition module 52, an error determination module 54, a receiving module 56 and a correction module 58. The correction device for the robot motion instruction is described below.

[0077] The acquisition module 52 is used to acquire a first base coordinate system corresponding to the first robot in the target area and a second base coordinate system corresponding to replacing the first robot with a second robot.

[0078] The error determination module 54 is connected to the acquisition module 52 and is used to determine the position and posture installation errors according to the first base coordinate system and the second base coordinate system in the target area.

[0079] The receiving module 56 is connected to the error determination module 54 and is used to receive a motion control instruction, wherein the motion control instruction is issued based on the position of the first robot.

[0080] The correction module 58 is connected to the receiving module 56, and is used to correct the motion control instruction based on the position and posture installation errors to obtain the target motion control instruction of the second robot.

[0081] It should be noted that the acquisition module 52, error determination module 54, receiving module 56 and correction module 58 correspond to steps S202 to S208 in the embodiment, and the examples and application scenarios implemented by the multiple modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above embodiment. It should be noted that the above modules, as part of the device, can be run in the computer terminal 10 provided in the embodiment.

[0082] An embodiment of the present invention may provide a computer device. Optionally, in this embodiment, the computer device may be located in at least one network device among multiple network devices of a computer network. The computer device includes a memory and a processor.

[0083] Among them, the memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the correction method and device of the robot motion instruction in the embodiment of the present invention. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, the correction method of the robot motion instruction mentioned above is realized. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories can be connected to the computer terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0084] The processor can call the information and application stored in the memory through the transmission device to execute the following steps: obtain the first base coordinate system corresponding to the first robot in the target area and replace the first robot with the second base coordinate system corresponding to the second robot; determine the position and posture installation errors based on the first base coordinate system and the second base coordinate system in the target area; receive motion control instructions, wherein the motion control instructions are issued based on the position of the first robot; based on the position and posture installation errors, correct the motion control instructions to obtain the target motion control instructions of the second robot.

[0085] Optionally, the processor may also execute program code of the following steps: determining position and attitude installation errors based on the first base coordinate system and the second base coordinate system in the target area, including: setting multiple key points in the target area; establishing a key point coordinate system based on any one of the multiple key points as the origin; determining the coordinates of the multiple key points in the key point coordinate system; obtaining the coordinates of the multiple key points in the first base coordinate system and the coordinates of the multiple key points in the second base coordinate system respectively; determining the position and attitude installation errors based on the coordinates of the multiple key points in the key point coordinate system, the coordinates of the multiple key points in the first base coordinate system and the coordinates of the multiple key points in the second base coordinate system.

[0086] Optionally, the processor may also execute program code of the following steps: the motion control instructions include Cartesian motion instructions and joint motion instructions, wherein the Cartesian motion instructions represent motion control instructions for the end effector of the robot, and the joint motion instructions represent motion control instructions for the joints of the robot.

[0087] Optionally, the processor may also execute the program code of the following steps: when the motion control instruction is a Cartesian motion instruction, the motion control instruction is corrected based on the position and attitude installation error to obtain the target motion control instruction of the second robot, including: obtaining the position coordinates and attitude of the target motion position in the Cartesian motion instruction in the first base coordinate system; determining the position coordinates and attitude of the target motion position in the second base coordinate system according to the position and attitude installation error and the position coordinates and attitude in the first base coordinate system; determining the target motion control instruction of the second robot according to the position coordinates and attitude of the target motion position in the second base coordinate system.

[0088] Optionally, the processor may also execute program code of the following steps: determining the target motion control instructions of the second robot according to the position coordinates and posture of the target motion position in the second base coordinate system, including: obtaining the user control coordinate system corresponding to the second robot; converting the position coordinates and posture of the target motion position in the second base coordinate system into the position coordinates and posture in the user control coordinate system; determining the target motion control instructions of the second robot according to the position coordinates and posture in the user control coordinate system.

[0089] Optionally, the processor may also execute the program code of the following steps: in the case where the motion control instruction is a joint motion instruction, the motion control instruction is corrected based on the position and posture installation error to obtain the target motion control instruction of the second robot, including: obtaining the joint position in the joint motion instruction, wherein the joint position represents the rotation angle of the corresponding joint; determining the Cartesian pose of the robot end effector corresponding to the joint motion instruction in the first base coordinate system according to the joint position in the joint motion instruction, wherein the Cartesian pose represents the position coordinates and pose of the corresponding joint; determining the Cartesian pose of the robot end effector corresponding to the joint motion instruction in the second base coordinate system according to the position and posture installation error and the Cartesian pose of the robot end effector corresponding to the joint motion instruction in the first base coordinate system; determining the target joint position corresponding to the second robot according to the Cartesian pose of the robot end effector corresponding to the joint motion instruction in the second base coordinate system; determining the target motion control instruction of the second robot according to the target joint position corresponding to the second robot.

[0090] Optionally, the processor may also execute program codes of the following steps: determining a target joint position corresponding to the second robot according to the Cartesian pose of the robot end effector in the second base coordinate system corresponding to the joint motion instruction, including: obtaining DH parameters corresponding to the second robot, wherein the DH parameters include connecting rod length, connecting rod offset, connecting rod torsion angle and joint angle; performing inverse kinematics solution according to the DH parameters corresponding to the second robot and the Cartesian pose of the robot end effector in the second base coordinate system corresponding to the joint motion instruction, to determine the target joint position corresponding to the second robot.

[0091] According to an embodiment of the present invention, a method for correcting robot motion instructions is provided. By obtaining a first base coordinate system corresponding to a first robot in a target area and replacing the first robot with a second base coordinate system corresponding to a second robot; determining the position and posture installation errors according to the first base coordinate system and the second base coordinate system in the target area; receiving motion control instructions, wherein the motion control instructions are issued based on the position of the first robot; correcting the motion control instructions based on the position and posture installation errors to obtain the target motion control instructions of the second robot, the purpose of quickly restoring the robot to a working state after replacing the robot is achieved, thereby achieving the technical effect of improving the motion control accuracy of the robot, and further solving the technical problem that the position and posture errors will cause deviations and low precision in the motion control of the robot after replacing the robot at the same workstation.

[0092] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a non-volatile storage medium, and the storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0093] The embodiment of the present invention further provides a non-volatile storage medium. Optionally, in this embodiment, the non-volatile storage medium can be used to store the program code executed by the robot motion instruction correction method provided in the above embodiment.

[0094] Optionally, in this embodiment, the non-volatile storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0095] Optionally, in this embodiment, the non-volatile storage medium is configured to store program codes for executing the following steps: obtaining a first base coordinate system corresponding to a first robot in a target area and replacing the first robot with a second base coordinate system corresponding to a second robot; determining a position and posture installation error based on the first base coordinate system and the second base coordinate system in the target area; receiving a motion control instruction, wherein the motion control instruction is issued based on the position of the first robot; and correcting the motion control instruction based on the position and posture installation error to obtain a target motion control instruction for the second robot.

[0096] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for executing the following steps: determining position and attitude installation errors based on a first base coordinate system and a second base coordinate system in a target area, including: setting multiple key points in the target area; establishing a key point coordinate system based on any one of the multiple key points as the origin; determining the coordinates of the multiple key points in the key point coordinate system; obtaining the coordinates of the multiple key points in the first base coordinate system and the coordinates of the multiple key points in the second base coordinate system, respectively; determining the position and attitude installation errors based on the coordinates of the multiple key points in the key point coordinate system, the coordinates of the multiple key points in the first base coordinate system, and the coordinates of the multiple key points in the second base coordinate system.

[0097] Optionally, in this embodiment, the non-volatile storage medium is configured to store program codes for executing the following steps: the motion control instructions include Cartesian motion instructions and joint motion instructions, wherein the Cartesian motion instructions represent motion control instructions for the end effector of the robot, and the joint motion instructions represent motion control instructions for the joints of the robot.

[0098] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for executing the following steps: in the case where the motion control instruction is a Cartesian motion instruction, the motion control instruction is corrected based on the position and attitude installation error to obtain the target motion control instruction of the second robot, including: obtaining the position coordinates and attitude of the target motion position in the Cartesian motion instruction in the first base coordinate system; determining the position coordinates and attitude of the target motion position in the second base coordinate system according to the position and attitude installation error and the position coordinates and attitude in the first base coordinate system; determining the target motion control instruction of the second robot according to the position coordinates and attitude of the target motion position in the second base coordinate system.

[0099] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for executing the following steps: determining the target motion control instructions of the second robot based on the position coordinates and posture of the target motion position in the second base coordinate system, including: obtaining the user control coordinate system corresponding to the second robot; converting the position coordinates and posture of the target motion position in the second base coordinate system into the position coordinates and posture in the user control coordinate system; determining the target motion control instructions of the second robot based on the position coordinates and posture in the user control coordinate system.

[0100] Optionally, in this embodiment, the non-volatile storage medium is configured to store program codes for executing the following steps: in the case where the motion control instruction is a joint motion instruction, the motion control instruction is corrected based on the position and posture installation error to obtain the target motion control instruction of the second robot, including: obtaining the joint position in the joint motion instruction, wherein the joint position represents the rotation angle of the corresponding joint; determining the Cartesian pose of the robot end effector corresponding to the joint motion instruction in the first base coordinate system according to the joint position in the joint motion instruction, wherein the Cartesian pose represents the position coordinates and pose of the corresponding joint; determining the Cartesian pose of the robot end effector corresponding to the joint motion instruction in the second base coordinate system according to the position and posture installation error and the Cartesian pose of the robot end effector corresponding to the joint motion instruction in the first base coordinate system; determining the target joint position corresponding to the second robot according to the Cartesian pose of the robot end effector corresponding to the joint motion instruction in the second base coordinate system; determining the target motion control instruction of the second robot according to the target joint position corresponding to the second robot.

[0101] Optionally, in this embodiment, the non-volatile storage medium is configured to store program codes for executing the following steps: determining the target joint position corresponding to the second robot according to the Cartesian pose of the robot end effector corresponding to the joint motion instruction in the second base coordinate system, including: obtaining DH parameters corresponding to the second robot, wherein the DH parameters include connecting rod length, connecting rod offset, connecting rod torsion angle and joint angle; performing inverse kinematic solution according to the DH parameters corresponding to the second robot and the Cartesian pose of the robot end effector corresponding to the joint motion instruction in the second base coordinate system to determine the target joint position corresponding to the second robot.

[0102] An embodiment of the present invention also provides a computer program product, including a computer program. Optionally, in this embodiment, when the computer program is executed by a processor, it can achieve: obtaining a first base coordinate system corresponding to a first robot in a target area and replacing the first robot with a second base coordinate system corresponding to a second robot; determining a position and posture installation error based on the first base coordinate system and the second base coordinate system in the target area; receiving a motion control instruction, wherein the motion control instruction is issued based on the position of the first robot; based on the position and posture installation error, correcting the motion control instruction to obtain a target motion control instruction for the second robot.

[0103] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0104] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0105] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0106] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0107] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0108] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile storage medium. Based on this understanding, the technical solution of the present invention, 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. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0109] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for correcting robot motion instructions, characterized in that: include: Acquire a first base coordinate system corresponding to a first robot in a target area and replace the first robot with a second base coordinate system corresponding to a second robot; Determining position and attitude installation errors according to the first base coordinate system and the second base coordinate system in the target area; receiving a motion control instruction, wherein the motion control instruction is issued based on the position of the first robot; Based on the position and posture installation errors, the motion control instruction is corrected to obtain a target motion control instruction for the second robot.

2. The method according to claim 1, characterized in that The determining of the position and attitude installation errors according to the first base coordinate system and the second base coordinate system in the target area includes: Setting a plurality of key points in the target area; Establishing a key point coordinate system according to any key point among the multiple key points as the origin; Determine the coordinates of the plurality of key points in the key point coordinate system; Obtaining coordinates of the plurality of key points in the first base coordinate system and in the second base coordinate system respectively; The position and attitude installation errors are determined based on the coordinates of the multiple key points in the key point coordinate system, the coordinates of the multiple key points in the first base coordinate system, and the coordinates of the multiple key points in the second base coordinate system.

3. The method according to claim 1, characterized in that: The motion control instructions include Cartesian motion instructions and joint motion instructions, wherein the Cartesian motion instructions represent motion control instructions for the end effector of the robot, and the joint motion instructions represent motion control instructions for the joints of the robot.

4. The method according to claim 3, characterized in that In the case where the motion control instruction is the Cartesian motion instruction, the step of correcting the motion control instruction based on the position and posture installation error to obtain a target motion control instruction for the second robot includes: Acquire the position coordinates and posture of the target motion position in the Cartesian motion instruction in the first base coordinate system; Determining the position coordinates and attitude of the target motion position in the second base coordinate system according to the position and attitude installation errors, the position coordinates and attitude in the first base coordinate system; The target motion control instruction of the second robot is determined according to the position coordinates and posture of the target motion position in the second base coordinate system.

5. The method according to claim 4, characterized in that The step of determining the target motion control instruction of the second robot according to the position coordinates and posture of the target motion position in the second base coordinate system comprises: Acquire a user control coordinate system corresponding to the second robot; Converting the position coordinates and posture of the target motion position in the second base coordinate system into the position coordinates and posture in the user control coordinate system; Determine a target motion control instruction for the second robot according to the position coordinates and posture in the user control coordinate system.

6. The method according to claim 3, characterized in that In the case where the motion control instruction is the joint motion instruction, the motion control instruction is corrected based on the position and posture installation error to obtain the target motion control instruction of the second robot, including: Acquire a joint position in the joint motion instruction, wherein the joint position represents a rotation angle of the corresponding joint; Determine, according to the joint position in the joint motion instruction, the Cartesian position and posture of the robot end effector corresponding to the joint motion instruction in the first base coordinate system, wherein the Cartesian position and posture represent the position coordinates and posture of the corresponding joint; Determine the Cartesian pose of the robot end effector corresponding to the joint motion instruction in the second base coordinate system according to the position and posture installation error and the Cartesian pose of the robot end effector corresponding to the joint motion instruction in the first base coordinate system; Determining a target joint position corresponding to the second robot according to a Cartesian pose of the robot end effector corresponding to the joint motion instruction in the second base coordinate system; A target motion control instruction for the second robot is determined according to a target joint position corresponding to the second robot.

7. The method according to claim 6, characterized in that Determining a target joint position corresponding to the second robot according to the Cartesian pose of the robot end effector corresponding to the joint motion instruction in the second base coordinate system includes: Acquire DH parameters corresponding to the second robot, wherein the DH parameters include connecting rod length, connecting rod offset, connecting rod torsion angle and joint angle; According to the DH parameters corresponding to the second robot and the Cartesian pose of the robot end effector corresponding to the joint motion instruction in the second base coordinate system, an inverse kinematic solution is performed to determine the target joint position corresponding to the second robot.

8. A robot motion instruction correction device, characterized in that: include: An acquisition module, used for acquiring a first base coordinate system corresponding to a first robot in a target area and replacing the first robot with a second base coordinate system corresponding to a second robot; an error determination module, configured to determine position and attitude installation errors according to the first base coordinate system and the second base coordinate system in the target area; A receiving module, configured to receive a motion control instruction, wherein the motion control instruction is issued based on the position of the first robot; The correction module is used to correct the motion control instruction based on the position and posture installation errors to obtain the target motion control instruction of the second robot.

9. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored program, wherein when the program is executed, the device where the non-volatile storage medium is located is controlled to execute the method for correcting the robot motion instruction according to any one of claims 1 to 7.

10. A computer device, characterized in that: include: Memory and processor, The memory stores a computer program; The processor is used to execute the computer program stored in the memory, and when the computer program is run, the processor executes the method for correcting the robot motion instruction according to any one of claims 1 to 7.

11. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for correcting the robot motion instructions according to any one of claims 1 to 7 is implemented.

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