Robot motion control method, system, device, medium and program product

Abstract

The invention provides a motion control method, system and device of a robot, a medium and a program product. The robot comprises at least two control terminals and at least one controlled terminal. Wherein one controlled terminal is controlled by at least two control terminals; the mapping coefficients of all the control terminals corresponding to one controlled terminal are different; the motion control method comprises the following steps: in response to an input quantity generated by a control terminal, controlling a corresponding controlled terminal to move according to the input quantity. The control terminal with the large mapping coefficient can control the controlled end to quickly and greatly move, the control terminal with the small mapping coefficient can control the controlled end to slowly and finely move, in this way, the robot can be quickly and accurately controlled to reach the expected pose, the mapping coefficient does not need to be frequently changed after the equipment is started, reliability is high, and the method is suitable for large-scale popularization and application. And meanwhile, the main control system conforms to thinking and operation habits of an operator, so that the operator can intuitively judge a target position.

Description

Technical Field

[0001] The present disclosure relates to the field of system control, and in particular to a robot motion control method, system, device, medium and program product. Background Art

[0002] Robot teleoperation is an operation method that uses human-machine interaction devices and equipment such as hand controllers and handles to control remote robots to perform work tasks. This operation method is widely used in many special environments, such as remote environments such as space and underwater, environments with limited operating space such as minimally invasive human surgery, and places with radiation hazards such as nuclear power plants and factories. In a teleoperation system, human-operated devices (such as hand controllers, handles, multi-degree-of-freedom sensors that are heterogeneous or homogeneous with the controlled terminal, etc.) are called control terminals, and the controlled remote robot actuators are called controlled terminals. Since there are differences in the working spaces of the control terminal and the controlled terminal in the teleoperation control system, a spatial mapping relationship must be constructed to achieve the corresponding position of the robot. How to ensure that the robot is intuitive and easy to operate while conforming to the operator's thinking habits, and the motion response of the controlled terminal is fast and accurate is a topic. Summary of the invention

[0003] The technical problem to be solved by the present disclosure is to overcome the defects in the prior art that robot remote operation does not conform to human operating habits and has poor accuracy, and to provide a robot motion control method, system, equipment, medium and program product.

[0004] The present invention solves the above technical problems through the following technical solutions:

[0005] The present disclosure provides a motion control method for a robot, wherein the robot comprises at least two control terminals and at least one controlled terminal; wherein one controlled terminal is controlled by at least two control terminals; and mapping coefficients of all control terminals corresponding to one controlled terminal are different;

[0006] The motion control method comprises: in response to the control terminal generating an input amount, controlling the corresponding movement of the controlled terminal according to the input amount.

[0007] Optionally, one of the controlled terminals is controlled by a first control terminal and a second control terminal; a first mapping coefficient of the first control terminal is greater than a second mapping coefficient of the second control terminal;

[0008] In response to the control terminal generating an input amount, controlling the corresponding controlled terminal to move according to the input amount includes:

[0009] In response to a first input amount generated by the first control terminal, controlling the controlled terminal to move to a first target position according to the first input amount and the first mapping coefficient;

[0010] In response to a second input quantity generated by the second control terminal, the controlled terminal is controlled to move to a second target position according to the second input quantity and the second mapping coefficient.

[0011] Optionally, controlling the controlled terminal to move to a first target position according to the first input amount and the first mapping coefficient includes:

[0012] Acquire a first initial position of the controlled terminal corresponding to the current first input amount;

[0013] Determine a first output quantity according to the first input quantity and the first mapping coefficient;

[0014] The controlled terminal is controlled to move to the first target position based on the first initial position and the first output amount.

[0015] Optionally, controlling the controlled terminal to move to a second target position according to the second input amount and the second mapping coefficient includes:

[0016] Acquire a second initial position of the controlled terminal corresponding to the current second input amount;

[0017] Determine a second output quantity according to the second input quantity and the second mapping coefficient;

[0018] The controlled terminal is controlled to move to the second target position based on the second initial position and the second output amount.

[0019] Optionally, the motion control method further includes:

[0020] monitoring an adjustment instruction for adjusting the mapping coefficient;

[0021] In response to the adjustment instruction, the current mapping coefficient is updated according to the adjustment instruction.

[0022] Optionally, before the step of generating an input amount in response to the control terminal, the step includes:

[0023] In response to two or more control terminals generating respective pre-input quantities simultaneously, and all the control terminals having the same operation priority, all the pre-input quantities are determined to be invalid input quantities;

[0024] or,

[0025] In response to more than two control terminals generating respective pre-input amounts simultaneously, and all the control terminals having different operation priorities, the pre-input amount corresponding to the control terminal with the highest operation priority is used as the input amount.

[0026] The present disclosure provides a robot motion control system, the robot comprising at least two control terminals and at least one controlled terminal; wherein one controlled terminal is controlled by at least two control terminals; mapping coefficients of all control terminals corresponding to one controlled terminal are different;

[0027] The motion control system comprises: a control module, which is used for controlling the corresponding motion of the controlled terminal according to the input amount in response to the input amount generated by the control terminal.

[0028] Optionally, one of the controlled terminals is controlled by a first control terminal and a second control terminal; a first mapping coefficient of the first control terminal is greater than a second mapping coefficient of the second control terminal;

[0029] The control module is specifically used for:

[0030] In response to a first input amount generated by the first control terminal, controlling the controlled terminal to move to a first target position according to the first input amount and the first mapping coefficient;

[0031] In response to a second input quantity generated by the second control terminal, the controlled terminal is controlled to move to a second target position according to the second input quantity and the second mapping coefficient.

[0032] Optionally, the control module is specifically used for:

[0033] Acquire a first initial position of the controlled terminal corresponding to the current first input amount;

[0034] Determine a first output quantity according to the first input quantity and the first mapping coefficient;

[0035] The controlled terminal is controlled to move to the first target position based on the first initial position and the first output amount.

[0036] Optionally, the control module is specifically used for:

[0037] Acquire a second initial position of the controlled terminal corresponding to the current second input amount;

[0038] Determine a second output quantity according to the second input quantity and the second mapping coefficient;

[0039] The controlled terminal is controlled to move to the second target position based on the second initial position and the second output amount.

[0040] Optionally, the motion control system further includes:

[0041] A coefficient monitoring module, used for monitoring an adjustment instruction for adjusting the mapping coefficient;

[0042] The coefficient adjustment module is used to respond to the adjustment instruction and update the current mapping coefficient according to the adjustment instruction.

[0043] Optionally, the motion control system further includes:

[0044] A first response module, configured to, in response to two or more control terminals generating respective pre-input quantities simultaneously and all the control terminals having the same operation priority, determine all the pre-input quantities as invalid input quantities;

[0045] or,

[0046] The second response module is used for responding to more than two control terminals generating respective pre-input quantities simultaneously, and all the control terminals have different operation priorities, and then taking the pre-input quantity corresponding to the control terminal with the highest operation priority as the input quantity.

[0047] The present disclosure provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and used to run on the processor, wherein the processor implements any one of the above-mentioned robot motion control methods when executing the computer program.

[0048] The present disclosure provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the robot motion control method described in any one of the above is implemented.

[0049] The present disclosure provides a computer program product, including a computer program, which implements any one of the above-mentioned robot motion control methods when executed by a processor.

[0050] On the basis of being in accordance with the common sense in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present disclosure.

[0051] The positive and progressive effect of the present disclosure is that: based on the architecture that one controlled terminal of the robot is controlled by at least two control terminals, and the mapping coefficients of all control terminals corresponding to one controlled terminal are different, the corresponding controlled terminal is controlled to move in response to the input generated by the control terminal. The control terminal with a larger mapping coefficient can control the controlled terminal to move quickly and significantly, and the control terminal with a smaller mapping coefficient can control the controlled terminal to move slowly and finely. This method can quickly and accurately control the robot to achieve the expected posture, and the mapping coefficient does not need to be frequently changed after the device is started, and the reliability is high. At the same time, the main control system conforms to the operator's thinking and operating habits, which is convenient for the operator to intuitively judge the target position. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A flowchart of a robot motion control method provided by an exemplary embodiment of the present disclosure;

[0053] Figure 2 A flowchart of step 101 is provided for an exemplary embodiment of the present disclosure;

[0054] Figure 3 A flowchart of another robot motion control method provided by an exemplary embodiment of the present disclosure;

[0055] Figure 4 A flowchart of another robot motion control method provided by an exemplary embodiment of the present disclosure;

[0056] Figure 5 A schematic diagram of a remote control system architecture of a robot provided by an exemplary embodiment of the present disclosure;

[0057] Figure 6 A flowchart of a remote operation of a robot provided by an exemplary embodiment of the present disclosure;

[0058] Figure 7 A schematic diagram of a remote operation UI interface of a robot provided by an exemplary embodiment of the present disclosure;

[0059] Figure 8 A schematic diagram of a module of a robot motion control system provided by an exemplary embodiment of the present disclosure;

[0060] Fig. 9 The present invention provides a schematic structural diagram of an electronic device according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0061] The present disclosure is further described below by way of examples, but the present disclosure is not limited to the scope of the examples.

[0062] Prefixes such as "first" and "second" are used in the embodiments of the present disclosure only to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present disclosure does not constitute a limitation on the described objects. For the statement of the described objects, please refer to the description in the context of the embodiments, and no unnecessary limitation should be constituted due to the use of such prefixes. In addition, in the description of the present embodiment, unless otherwise specified, the meaning of "plurality" is two or more.

[0063] Example 1

[0064] Figure 1 A flowchart of a motion control method of a robot provided for an exemplary embodiment of the present disclosure, wherein the robot includes at least two control terminals and at least one controlled terminal; wherein one controlled terminal is controlled by at least two control terminals; and the mapping coefficients of all control terminals corresponding to one controlled terminal are different. The robot in the present disclosure can be regarded as a system architecture, in which there are multiple control terminals (at least two) and one or more controlled terminals. It is particularly pointed out that there is a situation in which one controlled terminal is controlled by at least two control terminals. Among them, the mapping coefficient here is a proportional relationship or conversion rule for converting the operation amount of the control terminal into the motion amount of the controlled terminal. Different control terminals have different conversion relationships with the controlled terminals due to their own characteristics (such as operation mode, accuracy requirements, etc.). For example, in a scenario where multiple handles control a robotic arm, one handle may be mainly used to control the large-scale movement of the robotic arm (rough positioning), and the other handle is used for fine adjustment when approaching the target (fine positioning), and the relationship between them and the movement of the robotic arm is reflected by their respective mapping coefficients. This system architecture helps to improve the flexibility and adaptability of the system. Since different control terminals can have different modes of action and are associated with the controlled terminal through different mapping coefficients, operations can be flexibly arranged according to actual needs. For example, in a scenario where multiple people are working together to operate a robot, different operators can use their familiar control terminals to control the robot according to their own mapping relationships without causing conflicts and can complement each other's operations.

[0065] Based on the system architecture of the robot, the specific application scenarios can be diversified. Here are some specific examples:

[0066] 1. Industrial robot assembly scene

[0067] Suppose an industrial robot works on an automobile parts assembly line. There are two control terminals, one of which is a simple handheld remote control (control terminal a) used by operator A, which is mainly used to quickly move the robot's arm to the approximate assembly area (rough positioning). The operation of this remote control is relatively simple, for example, a few large buttons are used to control the robot's approximate movement in the three directions of x, y, and z. Its mapping coefficient may be set to a large value. For example, in the x direction, a 1 cm movement of the remote control may correspond to a 5 cm movement of the robot arm, which can quickly move the arm to the vicinity of the target area.

[0068] The other is a professional console (control terminal b) with high-precision sensors and a high-resolution operation interface used by engineer B for fine adjustments (fine positioning) when the robot approaches the parts. This console has high operating accuracy. For example, the tiny movement of the robot arm can be controlled by a tiny knob or precise numerical input on the touch screen. In the x direction, a 1 mm displacement input on the console may only correspond to a 0.1 mm movement of the robot arm, and its mapping coefficient is relatively small.

[0069] The industrial robot arm here is the controlled terminal, which is controlled by the two different control terminals, and because the functions and usage scenarios of the two control terminals are different, their mapping coefficients are different. It should be understood that the control terminal here can be operated by one engineer.

[0070] 2. Medical robot surgery assistance scenario

[0071] Consider a robotic system used to assist surgery. There is an operating handle (control terminal a) used by the surgeon. The design of this handle is mainly to allow the surgeon to quickly move surgical tools (such as forceps, scissors, etc.) to the approximate location of the surgical site. Its mapping coefficient makes the surgeon's larger operating range correspond to the larger displacement of the robotic tool, which is convenient for rapid positioning.

[0072] At the same time, there is an auxiliary control terminal (control terminal b) used by the assistant nurse. This terminal can be used to fine-tune the robot's posture during the operation or make some supplementary fine adjustments based on the operation of the surgeon. Its mapping coefficient is different from the surgeon's operating handle to achieve different control functions. The controlled surgical robot is the controlled terminal, which accepts the control of these two different control terminals to complete the surgical task.

[0073] It should be understood that the above-mentioned industrial robot assembly scenario and medical robot surgery assistance scenario are merely examples, and the present disclosure is not limited to the above-mentioned scenarios.

[0074] Specifically, the motion control method includes:

[0075] Step 101: In response to an input amount generated by a control terminal, a corresponding controlled terminal is controlled to move according to the input amount.

[0076] Step 101 is the core part of the entire control process, which shows that when the control terminal generates an input, the controlled terminal will move according to the input. This reflects a basic input-output control relationship and is the basic logic embodiment of robot motion control. When there are multiple control terminals (such as the first control terminal and the second control terminal) controlling a controlled terminal, each control terminal has its own mapping coefficient, which determines the relationship between the input and the motion of the controlled terminal.

[0077] Optionally, a controlled terminal is controlled by a first control terminal and a second control terminal, and a first mapping coefficient of the first control terminal is greater than a second mapping coefficient of the second control terminal. Figure 2 It can be seen that step 101 specifically includes:

[0078] Step 1011: In response to a first input quantity generated by a first control terminal, control the controlled terminal to move to a first target position according to the first input quantity and a first mapping coefficient.

[0079] Optionally, controlling the controlled terminal to move to a first target position according to a first input quantity and a first mapping coefficient in step 1011 includes: obtaining a first initial position of the controlled terminal corresponding to the current first input quantity; determining a first output quantity according to the first input quantity and the first mapping coefficient; and controlling the controlled terminal to move to a first target position based on the first initial position and the first output quantity.

[0080] In step 1011 (for the first control terminal), when the first control terminal generates an input, the initial position of the controlled terminal must first be obtained. This is because the movement of the robot is relative, and only by knowing the initial position can the final target position be accurately calculated. Then the output is determined based on the input and the first mapping coefficient. This output is the amount that can directly act on the movement of the controlled terminal after being adjusted by the mapping coefficient. Finally, based on the initial position and the output, the controlled terminal is controlled to move to the first target position. This process embodies a complete calculation and control process from input to the final movement result.

[0081] The core of step 1011 is how to control the controlled terminal to reach the target position according to the input and the specific mapping coefficient when the first control terminal generates an input. This is a step to convert the input into the actual motion result, which reflects the basic logic of input-processing-output in the control system. First, it is very critical to obtain the initial position of the controlled terminal, because in robot motion control, all movements are relative, and the initial position is the reference point for calculating subsequent movements. For example, if you don’t know where the robot is currently, you can’t accurately make it reach the target position. Determine the first output according to the first input and the first mapping coefficient. This process is to convert the operation of the control terminal (input) according to certain rules (mapping coefficient) into a quantity (output) that the controlled terminal can understand and can be directly used for motion. The mapping coefficient plays a role of proportional conversion or adjustment here. Finally, based on the initial position and output, the controlled terminal is controlled to move to the first target position, which completes the complete link from input to the final motion effect.

[0082] In the scenario mentioned above where different control terminals have different functions, such as the remote control (equivalent to the first control terminal) used by operator A in the industrial robot assembly scenario, its larger mapping coefficient may mean that the operation of this remote control is mainly to quickly move the robot to a general area. For example, in the automobile parts assembly line, operator A uses the remote control to make the robot arm quickly approach the car body being assembled. The input quantity in this process (such as the distance of pushing the slider on the remote control) is converted into a larger robot arm movement distance (output quantity) through a larger mapping coefficient, so that the robot can quickly reach the target position near the car body. This step also reflects the coordination within the entire control system. Each control terminal has its own operation mode and corresponding mapping coefficient, which are reflected and work together in the process such as step 1011. This ensures that under different operation requirements, different control terminals can control the controlled terminals in an orderly manner to achieve effective operation of the system.

[0083] Based on step 1011, a specific example is listed here:

[0084] 1. Home cleaning robot example

[0085] Suppose a household cleaning robot is cleaning the room. There is a handheld simple controller (first control terminal) as the main operating device. When the user pushes the direction key on the controller, the controller generates an input. For example, the user pushes the direction key to the left, and the initial position corresponding to this input is the current position of the cleaning robot (assuming it is in the center of the living room). Since the mapping coefficient of this handheld controller is large, for example, if the direction key is pushed to the left by one grid, the cleaning robot may move forward a large distance (such as 50 cm). This large moving distance (output) is determined based on the input (pushing the direction key by one grid) and the large mapping coefficient. Then the cleaning robot will move from the center of the living room to a position about 50 cm to the left (the first target position), which may be close to the side of the sofa, making it convenient to clean the area around the sofa.

[0086] 2. Agricultural harvesting robot example

[0087] In the orchard, there is a remote control terminal (first control terminal) used by fruit farmers to control the movement of the picking robot. When the fruit farmer wants the picking robot to get closer to a fruit tree, he will operate the control terminal. For example, he presses a button indicating forward movement, and the input generated by this button corresponds to the current position (initial position) of the picking robot on the path in the orchard. Since the mapping coefficient of this control terminal is large, this input (pressing the forward button once) may cause the picking robot to move forward quickly by several meters (output), thereby moving the picking robot from the orchard path to under the fruit tree (first target position), making it easier for the fruit farmer to perform the picking operation.

[0088] The following is a specific example that illustrates the calculation process:

[0089] 1. Example of Logistics Handling Robot

[0090] 1. Scenario Description

[0091] In a large logistics warehouse, there is an automatic guided vehicle (AGV) as a controlled terminal for transporting goods. There is a handheld remote control (first control terminal) for controlling the AGV.

[0092] 2. Calculation process

[0093] Assume that the initial position of the AGV is at the warehouse coordinate (0, 0) (here the position is represented by a simple two-dimensional coordinate), and the mapping coefficient of the handheld remote control is k = 5 (this coefficient represents the proportional relationship between the remote control input and the actual moving distance of the AGV).

[0094] When the operator pushes the joystick on the remote control in the positive direction of the x-axis, the input value is x = 1 (here 1 is a relative unit, such as one scale of the remote control joystick movement).

[0095] First, get the initial position (0, 0), and then according to the formula: output = input * mapping coefficient, calculate the output in the x-axis direction X = x*k= 1*5 = 5.

[0096] Finally, the AGV moves to the target position (5, 0) based on the initial position (0, 0) and the output (5, 0) (only the movement in the x-axis direction is considered here). This position is the first target position.

[0097] This calculation method enables the operator to use the mapping coefficient to quickly and accurately control the AGV to reach the target location based on his or her operating intentions (input through the remote control), thereby improving the efficiency of logistics handling.

[0098] 2. Examples of indoor service robots

[0099] 1. Scenario Description

[0100] In a hotel lobby, there is a service robot responsible for providing guidance and other services to guests. A tablet computer is used as the first control terminal to control the movement of the robot.

[0101] 2. Calculation process

[0102] Assume that the robot’s initial position is at the coordinates (10, 10) of the hotel lobby (a coordinate system established based on the lobby’s floor plan), and the tablet’s mapping coefficient k = 3.

[0103] When the guest slides in the positive direction of the y-axis by touching the screen on the tablet, the input amount is y = 2 (also in relative units).

[0104] First determine the initial position (10, 10), and then calculate the output in the y-axis direction according to the formula Y = y* k = 2*3=6.

[0105] Based on the initial position (10, 10) and the output (0, 6) (only considering the movement in the y-axis direction), the robot moves to the target position (10, 16), which is the first target position.

[0106] This type of calculation and control method enables the service robot to accurately reach the designated area based on the guest's operations and provide better services to the guests.

[0107] Step 1012: In response to a second input quantity generated by the second control terminal, control the controlled terminal to move to a second target position according to the second input quantity and a second mapping coefficient.

[0108] Optionally, controlling the controlled terminal to move to a second target position according to a second input quantity and a second mapping coefficient in step 1012 includes: obtaining a second initial position of the controlled terminal corresponding to the current second input quantity; determining a second output quantity according to the second input quantity and the second mapping coefficient; and controlling the controlled terminal to move to a second target position based on the second initial position and the second output quantity.

[0109] Step 1012 is similar to step 1011, except that it is an operation for the second control terminal. When the second control terminal generates an input, the controlled terminal is moved to the second target position through a specific process. This process includes obtaining the initial position of the controlled terminal, determining the output according to the input and the mapping coefficient, and finally realizing motion control based on the initial position and the output. In the entire control system, step 1012 and step 1011 together embody the control method of multiple control terminals over the controlled terminal. Different control terminals contribute to the movement of the controlled terminal according to their own mapping coefficients and input, and each controls to a different target position, which helps to achieve more flexible and diversified control.

[0110] In the aforementioned scenarios where different control terminals have different functions, such as industrial robot assembly scenarios or medical robot surgery assistance scenarios, the functions of the first control terminal and the second control terminal are different. For example, in industrial robot assembly, the first control terminal may be used for fast and rough positioning, while the second control terminal is used for fine adjustment. The operation in step 1012 is like a fine adjustment stage, where a smaller mapping coefficient of the second control terminal is used to achieve more precise control.

[0111] These steps also reflect the coordination within the entire control system. Each control terminal controls the controlled terminal according to its own mapping coefficient, and the orderliness of this control is guaranteed through clear steps. This helps to achieve effective control of the controlled terminal by multiple control terminals under different operating requirements, and improves the flexibility and practicality of the system.

[0112] Based on step 1012, specific examples are listed here:

[0113] 1. 3D Printing Robot Example

[0114] Suppose a 3D printing robot is printing a complex model. There is a main operation panel (first control terminal) and an auxiliary adjustment device (second control terminal) to control the movement of the robot's nozzle or printing platform.

[0115] When printing starts, the main operation panel first quickly moves the nozzle to the approximate starting position according to the overall shape of the model (this is the operation of the first control terminal, similar to the control process in step 1011).

[0116] During the printing process, when the nozzle needs to be fine-tuned to accurately build the details of the model, the auxiliary adjustment device (the second control terminal) comes into play. For example, the auxiliary adjustment device generates an input quantity, assuming that the initial position corresponding to this input quantity is the current position of the nozzle in the model (the second initial position).

[0117] Assume that the mapping coefficient of the second control terminal is small, for example, 0.1. If the input amount is 0.5, according to the formula output amount = input amount * mapping coefficient, the output amount is 0.5*0.1 = 0.05.

[0118] Then, based on the initial position and this output, the nozzle will move precisely 0.05 units (such as millimeters) to the second target position, thereby more accurately constructing the details of the model.

[0119] 2. Drone flight control example

[0120] In a UAV flight control system, there is a handheld remote controller (first control terminal) and a precision adjustment interface of a ground control station (second control terminal).

[0121] After the drone takes off, the remote controller is held to quickly guide the drone to the vicinity of the target area (similar to the control process of step 1011).

[0122] When approaching the target area, the ground control station's precision adjustment interface starts to operate. For example, the ground control station finds that the drone has a 1-meter deviation from the target position in the height direction. At this time, an upward input of 1 (the second input) is entered in the precision adjustment interface. Assuming that the initial height position of the drone (the second initial position) is 10 meters, the mapping coefficient of the ground control station is 0.2.

[0123] The output calculated according to the formula is 1*0.2 = 0.2 meters. Based on the current height of 10 meters and the output of 0.2 meters, the drone rises to a height of 10.2 meters (the second target position), thereby reaching the target position more accurately.

[0124] The different mapping coefficients (the first mapping coefficient is greater than the second mapping coefficient) in step 1011 and step 1012 reflect the different influences of different control terminals on the motion control of the controlled terminal. For example, a larger first mapping coefficient may mean that the control terminal can have a more significant impact on the motion of the controlled terminal, which may be used for operations such as fast positioning; while a smaller second mapping coefficient may be used for more precise adjustments.

[0125] From the perspective of the functional differences of the control terminals, in the scenarios mentioned above where multiple control terminals control one controlled terminal, such as industrial robot assembly scenarios or medical robot surgery assistance scenarios, the functions of different control terminals are different. Step 101 and its subdivided steps here reflect the embodiment of this functional difference in control logic. For example, in the assembly of industrial robots, the remote control used by operator A (similar to the first control terminal) may be used for fast and rough positioning, and its larger mapping coefficient enables it to quickly change the position of the robot; while the professional console used by engineer B (similar to the second control terminal) is used for fine adjustment, and the smaller mapping coefficient is suitable for fine-tuning operations.

[0126] From the perspective of system coordination, these steps also reflect the coordination within the entire control system. Each control terminal controls the controlled terminal according to its own mapping coefficient, and the orderliness of this control is guaranteed through clear steps. This helps to achieve effective control of the controlled terminal by multiple control terminals under different operating requirements, and improves the flexibility and practicality of the system.

[0127] Based on step 1011 and step 1012, specific examples are listed here:

[0128] 1. Logistics warehousing robot example

[0129] Suppose a logistics warehousing robot is moving goods in a warehouse. There is a handheld remote control (first control terminal) as the main operating device, and its mapping coefficient is large. For example, when the operator pushes the forward button on the remote control, the remote control generates an input, and it is assumed that this input corresponds to a large virtual displacement. Based on this input and its large mapping coefficient, the robot will quickly move to a rough target position (first target position) in the warehouse channel. In this process, the robot first obtains its current position (initial position), and then calculates an actual moving distance (output) based on the input of the remote control and the mapping coefficient, thereby achieving rapid positioning.

[0130] At the same time, there is also a computer terminal (second control terminal) in the monitoring center in the warehouse that can serve as an auxiliary control device. When the robot approaches the cargo storage rack and prepares to accurately pick up the goods, the staff of the monitoring center can make fine adjustments through the computer terminal. The mapping coefficient of this computer terminal is small. For example, the staff enters a small displacement as input on the screen. Due to the small mapping coefficient, the robot will only make small adjustments to accurately reach the cargo storage location (second target location).

[0131] 2. Educational Robot Programming Learning Example

[0132] In the educational scenario, there is a simple operating handle (first control terminal) used by students to control an educational robot to perform various actions. The mapping coefficient of this handle is large, which makes it easy for students to quickly make the robot perform some basic actions, such as walking forward a few steps or turning a certain angle to reach a rough area (first target position). For example, when the student pushes the handle forward, the handle generates input, and the robot moves quickly according to the large mapping coefficient.

[0133] The professional programming console (second control terminal) used by the teacher can control the robot's movements more precisely. When the student operates the robot to reach the approximate area, the teacher can input small instructions (input amount) through the programming console. Due to the small mapping coefficient, the robot can make more precise movements, such as accurately picking up a small object or moving to an accurate position (second target position) along a specific trajectory.

[0134] Alternatively, see Figure 3 It can be seen that the motion control method also includes:

[0135] Step 102: Monitor adjustment instructions for adjusting mapping coefficients.

[0136] Step 102 is mainly about monitoring the mapping coefficient adjustment instruction. In the robot motion control system, the mapping coefficient determines the relationship between the control terminal input and the controlled terminal motion. The existence of the monitoring adjustment instruction is to be able to timely discover whether there is a need to adjust the mapping coefficient. This demand may come from different aspects, such as the operator feels that the current control effect is not ideal based on the actual operation situation, or the system determines that the mapping coefficient needs to be adjusted based on certain preset conditions.

[0137] Step 103: In response to the adjustment instruction, the current mapping coefficients are updated according to the adjustment instruction.

[0138] Step 103: When the adjustment instruction is detected, the current mapping coefficient is updated. In this way, the mapping coefficient can be adapted to different working scenes or operation requirements, thereby optimizing the motion control effect of the robot.

[0139] In the scenarios mentioned above where different control terminals have different functions, such as industrial robot assembly scenarios or medical robot surgery assistance scenarios, the adjustment of the mapping coefficient can enable the control terminal to better adapt to the motion requirements of the controlled terminal. If the initially set mapping coefficient is not suitable in certain special operating situations, such as when an industrial robot assembles fine components, the larger mapping coefficient of the control terminal originally used for rapid positioning is no longer applicable. At this time, it is necessary to reduce the mapping coefficient according to the adjustment instructions to achieve fine control. Steps 102 and 103 reflect that the entire control system has a certain degree of flexibility and optimizability. By monitoring the adjustment instructions and updating the mapping coefficients, the system can continuously adjust its own control parameters according to actual conditions to improve the accuracy and efficiency of control.

[0140] Based on step 102 and step 103, specific examples are listed here:

[0141] 1. Industrial robot welding example

[0142] Assume that an industrial robot works in a car body welding workshop. There is a handheld remote control (first control terminal) and a programming console (second control terminal) to control the robot's welding arm movement.

[0143] Initially, the mapping coefficient of the handheld remote control was large. For example, in the x-direction, an input of 1 corresponded to a welding arm movement of 5 cm. This was to facilitate workers to quickly move the welding arm to the approximate welding area.

[0144] However, when starting to perform some precision welding processes, such as welding in a narrow gap, the worker finds that the mapping coefficient of the original handheld remote control is too large and it is difficult to accurately control the position of the welding arm. At this time, the worker sends an adjustment command through the programming console, and the adjustment command is detected by the system (step 102).

[0145] The system updates the mapping coefficient according to the adjustment instruction (step 103), for example, adjusting the mapping coefficient of the handheld remote control in the x direction to 1 corresponds to a welding arm movement of 0.5 cm. In this way, the worker can more accurately control the welding arm to perform precision welding operations.

[0146] 2. Smart Home Cleaning Robot Example

[0147] A cleaning robot used at home has a mobile phone APP (first control terminal) and a control panel of the sweeping robot itself (second control terminal) to control its movement.

[0148] The initial mapping coefficient of the mobile phone APP is set to a larger value. For example, if the slider is pushed forward by 1 unit, the cleaning robot will move forward 1 meter. This is to facilitate the user to quickly command the robot to move to a general cleaning area in a larger space.

[0149] When the cleaning robot enters a narrow space such as the bottom of furniture for fine cleaning, the user finds that the control of the mobile phone APP is not precise enough. So the user sends an adjustment command through the control panel of the sweeping robot itself. After the system detects this command (step 102), it adjusts the mapping coefficients of the mobile phone APP in the x and y directions to half of the original according to the command. For example, if the slider is pushed forward by 1 unit, the cleaning robot now only moves forward 0.5 meters, so that it can clean more accurately in narrow spaces.

[0150] Alternatively, see Figure 4 It can be seen that the step of generating the input quantity in response to the control terminal in step 101 includes step 1001 or step 1002.

[0151] Step 1001: In response to more than two control terminals generating respective pre-input quantities at the same time, and all control terminals having the same operation priority, all pre-input quantities are determined to be invalid input quantities.

[0152] In a robot motion control system, when there are multiple control terminals (at least two), simultaneous operations may occur. If all control terminals have the same operation priority, it is a reasonable strategy to determine all pre-input quantities as invalid input quantities in order to avoid control conflicts and confusion. This is like in a team, if multiple members issue different instructions at the same time without clear division of labor (same priority), it is wise not to execute any instructions temporarily to avoid confusion.

[0153] Step 1002: In response to more than two control terminals generating respective pre-input quantities simultaneously, and all the control terminals having different operation priorities, the pre-input quantity corresponding to the control terminal with the highest operation priority is used as the input quantity.

[0154] When multiple control terminals generate pre-input quantities at the same time and they have different operation priorities, the pre-input quantity corresponding to the control terminal with the highest operation priority is selected as the final input quantity. This reflects a hierarchical management concept in a multi-control terminal system, ensuring that the operations of important control terminals can be executed.

[0155] In the scenarios mentioned above where different control terminals have different functions, such as industrial robot assembly scenarios or medical robot surgery assistance scenarios, different control terminals may have different operating purposes and importance. For example, in industrial robot assembly, the operating handle directly held by the operator may have a higher priority, while the backup control terminal used by the auxiliary observer next to it has a lower priority. When both are operated at the same time, according to the rules of step 1002, the operation of the operator's handle shall prevail. Steps 1001 and 1002 help maintain the coordination and stability of the entire control system. By clarifying the handling method when multiple control terminals are operated simultaneously, system failures or inaccurate motion control caused by control conflicts are avoided.

[0156] Based on step 1001 and step 1002, specific examples are listed here:

[0157] 1. Example of intelligent warehousing and logistics robots

[0158] In a large-scale intelligent warehousing system, there is an automated guided vehicle (AGV) as the controlled terminal and two control terminals, one is a handheld remote control used by the warehouse manager (control terminal A), and the other is a computer console in the remote monitoring center (control terminal B).

[0159] When the AGV is moving goods to the shelf, the warehouse manager and the operator of the monitoring center may issue different operation instructions (pre-input quantities) at the same time. If the two control terminals have the same operation priority, such as the normal operation authority level, according to step 1001, the two pre-input quantities are both judged as invalid input quantities, and the AGV continues to move according to the previous motion state, avoiding possible conflicts.

[0160] Assume that control terminal A has a higher operation priority (for example, an administrator can directly intervene in an emergency on site), and control terminal B has a lower priority. When both are operated at the same time, according to step 1002, the AGV will execute the operation corresponding to the pre-input quantity issued by control terminal A, such as changing the driving direction or adjusting the speed.

[0161] 2. Example of telemedicine surgical robot

[0162] In telemedicine surgery, there is a surgical robot as the controlled terminal. The surgeon uses a local operating handle (control terminal c) and an assistant doctor uses an operating console (control terminal d) connected to a high-speed network in a different location to control the movements of the surgical robot.

[0163] If during the operation, the surgeon and the assistant surgeon issue different operation instructions (pre-input quantities) almost at the same time, since the surgeon's operating handle (control terminal c) has a higher operation priority (directly related to the main operation of the operation), according to step 1002, the surgical robot will execute the operation corresponding to the pre-input quantity issued by the control terminal c to ensure the accuracy and safety of the operation.

[0164] Based on all the above steps, here are some specific examples in actual application scenarios: For example, a robot teleoperation system architecture with two masters and one slave (see Figure 5 ), including the teleoperation system's master control handle 1 (three-degree-of-freedom position control handle), master control handle 2 (six-degree-of-freedom quasi-isomorphic control handle), host computer controller, robot controller, and slave six-axis robot. Among them, the master control handle 1 and control handle 2 can be connected to the host computer controller wirelessly to achieve the purpose of teleoperation. The operator can operate the handles at a certain distance and can switch between the two handles to send data. The host computer controller is responsible for receiving and processing the displacement signal of the master control handle, performing corresponding data mapping calculations, and packaging the displacement data of the slave robot to the robot controller through Socket communication, thereby completing the displacement control of the slave six-axis robot (see Figure 6 ). The present invention integrates the connection of multiple main control handles (not limited to the handles described in the embodiment of the present disclosure), the configuration of the robot communication interface, and the robot's return data and other functions into a UI interactive interface, which is integrated into the upper computer controller (see Figure 7 ).

[0165] The specific program flow is as follows: When the program starts, the operator can select the teleoperated device to be controlled in the UI interface. Before the device is started, the mapping coefficient K needs to be set first, including the corresponding mapping coefficients K in the three displacement directions x, y, and z. After the device is started, the mapping coefficient K remains unchanged. The main controller is operated to generate displacement, and data1 is obtained after mapping, and is added to the data returned by the real-time position data2 of the robot arm, and then the result is sent to the socket module to control the movement of the six-axis robot arm.

[0166] For example, in a robot operation scenario, there are main control handle 1 (such as a game handle) and main control handle 2 (such as a remote control six-degree-of-freedom handle) as two control terminals, and a UR5 robot as a controlled terminal.

[0167] 1. Handle operation and initial data reading

[0168] Master handle 1 (game handle): When the operator operates this handle, the translation in three directions (x, y, z) can be achieved by toggling the handle button. For example, if the operator wants the slave robot to move in a certain direction, he toggles the handle slider. Each direction (x, y, z) has a corresponding operating range of -D to D (here D is assumed to be a specific distance unit). When the slider is in the middle position (that is, when it is not toggled), the virtual displacement of the game handle is set to 0; when the slider is at one end (such as the leftmost or rightmost end), the virtual displacement is -D and D respectively; and when the slider is in other positions, the virtual displacement is linearly related to the distance between the slider position and the middle position.

[0169] Before starting the operation, you need to read and record the real-time position of the slave robot UR5. Assume that the initial position is (x0, y0, z0, rx0, ry0, rz0). And during the operation, read the slider data every 0.01 seconds. For example, the virtual displacement of the slider n times in the x-axis direction is recorded as xd1, xd2, xd3...xdn. Then the virtual displacement of the Xbox controller during the entire control process is xd = xd1+xd2+xd3+...+xdn.

[0170] Set the mapping ratio of the virtual displacement xd of the Xbox controller to the displacement deltax of the slave robot in the x direction to a constant Kx1 (the same applies to the y and z directions, with Ky1 and Kz1). In this way, the displacement of the slave robot in the x direction will change according to the operation of the Xbox controller, from the initial x0 position to x0 + Kx1*xd. For example, if Kx1 = 0.5, xd = 2, then the final position in the x direction is x0+0.5*2 = x0 + 1.

[0171] Main controller 2 (remote control six-degree-of-freedom controller):

[0172] This handle can realize three translation and three rotation (x, y, z, rx, ry, xz) operations, and can simultaneously control displacement and posture. It is consistent with the end-degree-of-freedom format of the slave robot UR5, which ensures accurate data transmission and processing.

[0173] 2. Combine operations to achieve the target location

[0174] Assume that the arm span of the slave robot UR5 is 850mm, and its motion space is roughly a hemisphere with a radius of 850mm. If you want the slave robot to reach a certain target position (x1, y1, z1, rx1, ry1, rz1), the operation process is as follows:

[0175] First, the operator uses the Xbox controller to perform preliminary rough positioning. For example, after a series of operations, according to the previous calculation, the position of the slave robot becomes (x0+Kx1*xd, y0+Ky1*yd, z0+Kz1*zd, rx0, ry0, rz0).

[0176] Then, the operator uses the teleoperated six-degree-of-freedom handle for further precise positioning. Assume that the movement generated by operating this handle is (deltaxh, deltayh, deltazh, deltarx, deltary, deltarz), and set the displacement mapping ratio constants Kx2, Ky2, Kz2, Kr2, Kry2, Krz2 (corresponding to the displacement in the x, y, z directions and the angles in the rx, ry, rz directions, respectively).

[0177] The final position of the slave robot is calculated according to the formula:

[0178] In the x direction: x0+Kx1*xd + deltaxh*Kx2 = x1;

[0179] In the y direction: y0+Ky1*yd + deltayh*Ky2 = y1;

[0180] In z direction: z0+Kz1*zd + deltazh*Kz2 = z1;

[0181] In rx direction: rx0 + deltarx = rx1;

[0182] In the ry direction: ry0 + deltary = ry1;

[0183] In the rz direction: rz0 + deltarz = rz1;

[0184] Through such an operation process, the slave robot can finally reach the target position accurately through the operation of two control terminals. In this system, the data reading related to multiple handles (here refers to master handle 1 and master handle 2), slave robot controller IP link settings, and slave robot terminal position data are integrated into one UI interface and integrated into the host computer controller system. In this way, operators can easily perform various operations and monitor the status of the robot on this unified interface.

[0185] In this embodiment, although we have described in detail the specific forms of the control terminal and the controlled terminal and their operation methods, it should be clear that these descriptions do not constitute a limitation on the scope of the present invention. In fact, the forms of the control terminal and the controlled terminal can be diversified, including but not limited to handheld remote controls, professional control consoles, mobile phone APPs, control panels of the sweeping robot itself, etc. Similarly, there can be multiple specific operation forms of the control terminal, including but not limited to toggling handle buttons, touch screen input, voice commands, etc. In addition, the number of operators can also be multiple, and they can operate the same or different controlled terminals simultaneously or separately through different control terminals. This flexibility enables the present invention to adapt to a variety of application scenarios and operating requirements, and improves the versatility and practicality of the robot.

[0186] Therefore, any variation and expansion that conforms to the core concept of the present invention should be considered to be within the protection scope of the present invention.

[0187] Example 2

[0188] Corresponding to the aforementioned robot motion control method embodiment, the present disclosure also provides an embodiment of a robot motion control system.

[0189] Figure 8 A module schematic diagram of a motion control system provided for an exemplary embodiment of the present disclosure, wherein the robot comprises at least two control terminals and at least one controlled terminal; wherein one controlled terminal is controlled by at least two control terminals; mapping coefficients of all control terminals corresponding to one controlled terminal are all different; the motion control system comprises: a control module 21, for generating an input quantity in response to the control terminal, and controlling the motion of the corresponding controlled terminal according to the input quantity.

[0190] Optionally, a controlled terminal is controlled by a first control terminal and a second control terminal; a first mapping coefficient of the first control terminal is greater than a second mapping coefficient of the second control terminal;

[0191] The control module 21 is specifically used for:

[0192] In response to a first input amount generated by the first control terminal, controlling the controlled terminal to move to a first target position according to the first input amount and a first mapping coefficient;

[0193] In response to the second input amount generated by the second control terminal, the controlled terminal is controlled to move to the second target position according to the second input amount and the second mapping coefficient.

[0194] Optionally, the control module 21 is specifically used for:

[0195] Obtaining a first initial position of the controlled terminal corresponding to the current first input amount;

[0196] Determine a first output quantity according to a first input quantity and a first mapping coefficient;

[0197] The controlled terminal is controlled to move to a first target position based on the first initial position and the first output amount.

[0198] Optionally, the control module 21 is specifically used for:

[0199] Obtaining a second initial position of the controlled terminal corresponding to the current second input amount;

[0200] Determine a second output quantity according to a second input quantity and a second mapping coefficient;

[0201] The controlled terminal is controlled to move to a second target position based on the second initial position and the second output amount.

[0202] Optionally, the motion control system further comprises:

[0203] A coefficient monitoring module, used for monitoring adjustment instructions for adjusting mapping coefficients;

[0204] The coefficient adjustment module is used to respond to the adjustment instruction and update the current mapping coefficient according to the adjustment instruction.

[0205] Optionally, the motion control system further comprises:

[0206] A first response module, configured to, in response to two or more control terminals generating respective pre-input quantities simultaneously, and all the control terminals having the same operation priority, determine all pre-input quantities as invalid input quantities;

[0207] or,

[0208] The second response module is used to respond to more than two control terminals generating their own pre-input quantities at the same time, and all the control terminals have different operation priorities, and then use the pre-input quantity corresponding to the control terminal with the highest operation priority as the input quantity.

[0209] In this embodiment, although we have described in detail the specific forms of the control terminal and the controlled terminal and their operation methods, it should be clear that these descriptions do not constitute a limitation on the scope of the present invention. In fact, the forms of the control terminal and the controlled terminal can be diversified, including but not limited to handheld remote controls, professional control consoles, mobile phone APPs, control panels of the sweeping robot itself, etc. Similarly, there can be multiple specific operation forms of the control terminal, including but not limited to toggling handle buttons, touch screen input, voice commands, etc. In addition, the number of operators can also be multiple, and they can operate the same or different controlled terminals simultaneously or separately through different control terminals. This flexibility enables the present invention to adapt to a variety of application scenarios and operating requirements, and improves the versatility and practicality of the robot.

[0210] Therefore, any variation and expansion that conforms to the core concept of the present invention should be considered to be within the protection scope of the present invention.

[0211] As for the system embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The system embodiment described above is only illustrative, wherein the units described as separate components may or may not be physically separated, and the components as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the disclosed solution.

[0212] Example 3

[0213] Fig. 9 This is a schematic diagram of the structure of an electronic device shown in an example embodiment of the present disclosure, the electronic device includes a memory, a processor, and a computer program stored in the memory and used to run on the processor, and when the processor executes the computer program, the robot motion control method described in any of the above embodiments is implemented. Fig. 9 The electronic device 90 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0214] like Fig. 9 As shown, the electronic device 90 may be in the form of a general-purpose computing device, for example, it may be a server device. The components of the electronic device 90 may include, but are not limited to: at least one processor 91, at least one memory 92, and a bus 93 connecting different system components (including the memory 92 and the processor 91).

[0215] The bus 93 includes a data bus, an address bus, and a control bus.

[0216] The memory 92 may include a volatile memory, such as a random access memory (RAM) 921 and / or a cache memory 922 , and may further include a read only memory (ROM) 923 .

[0217] The memory 92 may also include a program tool 925 (or utility) having a set (at least one) of program modules 924, such program modules 924 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include the implementation of a network environment.

[0218] The processor 91 executes various functional applications and data processing by running the computer program stored in the memory 92, such as the robot motion control method provided in any of the above embodiments.

[0219] The electronic device 90 can also communicate with one or more external devices 94 (e.g., keyboards, pointing devices, etc.). This communication can be carried out through an input / output (I / O) interface 95. In addition, the electronic device 90 can also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs) and / or public networks, such as the Internet) through a network adapter 96. As shown in the figure, the network adapter 96 communicates with other modules of the electronic device 90 through a bus 93. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device 90, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems, etc.

[0220] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided into multiple units / modules to be embodied.

[0221] Example 4

[0222] The embodiments of the present disclosure further provide a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the robot motion control method provided by any of the above embodiments is implemented.

[0223] The readable storage medium may include but is not limited to: a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device or any suitable combination of the above.

[0224] Example 5

[0225] The embodiment of the present disclosure further provides a computer program product, including a computer program, which implements any of the above-mentioned robot motion control methods when executed by a processor.

[0226] Among them, the program code for executing the computer program product of the present disclosure can be written in any combination of one or more programming languages, and the program code can be executed completely on the user device, partially on the user device, as an independent software package, partially on the user device and partially on a remote device, or completely on the remote device.

[0227] Although the specific embodiments of the present disclosure are described above, those skilled in the art should understand that this is only an example, and the protection scope of the present disclosure is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present disclosure, but these changes and modifications all fall within the protection scope of the present disclosure.

Claims

1. A robot motion control method, characterized in that: The robot comprises at least two control terminals and at least one controlled terminal; wherein one controlled terminal is controlled by at least two control terminals; and mapping coefficients of all the control terminals corresponding to one controlled terminal are different; The motion control method comprises: in response to the control terminal generating an input amount, controlling the corresponding movement of the controlled terminal according to the input amount.

2. The motion control method according to claim 1, characterized in that: One of the controlled terminals is controlled by a first control terminal and a second control terminal; a first mapping coefficient of the first control terminal is greater than a second mapping coefficient of the second control terminal; In response to the control terminal generating an input amount, controlling the corresponding controlled terminal to move according to the input amount includes: In response to a first input amount generated by the first control terminal, controlling the controlled terminal to move to a first target position according to the first input amount and the first mapping coefficient; In response to a second input quantity generated by the second control terminal, the controlled terminal is controlled to move to a second target position according to the second input quantity and the second mapping coefficient.

3. The motion control method according to claim 2, characterized in that: The controlling the controlled terminal to move to a first target position according to the first input amount and the first mapping coefficient includes: Acquire a first initial position of the controlled terminal corresponding to the current first input amount; Determine a first output quantity according to the first input quantity and the first mapping coefficient; The controlled terminal is controlled to move to the first target position based on the first initial position and the first output amount.

4. The motion control method according to claim 2, characterized in that: The controlling the controlled terminal to move to a second target position according to the second input amount and the second mapping coefficient includes: Acquire a second initial position of the controlled terminal corresponding to the current second input amount; Determine a second output quantity according to the second input quantity and the second mapping coefficient; The controlled terminal is controlled to move to the second target position based on the second initial position and the second output amount.

5. The motion control method according to claim 1, characterized in that: The motion control method further comprises: monitoring an adjustment instruction for adjusting the mapping coefficient; In response to the adjustment instruction, the current mapping coefficient is updated according to the adjustment instruction.

6. The motion control method according to claim 1, characterized in that: The step of generating an input quantity in response to the control terminal includes: In response to two or more control terminals generating respective pre-input quantities simultaneously, and all the control terminals having the same operation priority, all the pre-input quantities are determined to be invalid input quantities; or, In response to more than two control terminals generating respective pre-input amounts simultaneously, and all the control terminals having different operation priorities, the pre-input amount corresponding to the control terminal with the highest operation priority is used as the input amount.

7. A robot motion control system, characterized in that: The robot comprises at least two control terminals and at least one controlled terminal; wherein one controlled terminal is controlled by at least two control terminals; and mapping coefficients of all the control terminals corresponding to one controlled terminal are different; The motion control system comprises: a control module, which is used for controlling the corresponding motion of the controlled terminal according to the input amount in response to the input amount generated by the control terminal.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and used to run on the processor, characterized in that: When the processor executes the computer program, the robot motion control method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the robot motion control method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the motion control method of the robot according to any one of claims 1 to 6 is implemented.

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