5 results about "Joint acceleration" patented technology

A robot control method and apparatus, and a device and a medium. The robot control method comprises: on the basis of an initial point and a target point of an end effector of a robot, determining a trajectory point set; acquiring joint control information corresponding to each joint of the robot when the end effector is located at each trajectory point in the trajectory point set, wherein the joint control information comprises at least one of a joint position, a joint speed and a joint acceleration; and for a first trajectory point and a second trajectory point that are adjacent to each other in the trajectory point set, and on the basis of first joint control information corresponding to each joint at the first trajectory point and second joint control information corresponding to each joint at the second trajectory point, controlling each joint to move, such that the end effector moves from the first trajectory point to the second trajectory point.

The application belongs to the technical field of robot dynamics parameter identification, and discloses a double sparse efficient identification method and system for robot dynamics parameters. The method comprises the following steps: S1, collecting joint positions, joint speeds, joint torques and joint accelerations of a robot to be processed at each time; S2, constructing an implicit dynamics equation of the joint torque by taking the joint torque as a target; S3, constructing a base function database, evaluating the importance of each base function in the base function database, thereby completing the first sparse of the base function; and performing sparsification on the coefficient matrix to make some elements in the coefficient matrix 0, thereby completing the second sparse of the base function, determining the base function and the coefficient matrix, and realizing the acquisition of an explicit dynamics equation of the joint torque. Through the application, the technical problems of complex theoretical modeling or low interpretability of a black box model in the prior art are solved.

The application discloses a kind of joint acceleration driven redundancy manipulator uniform wear motion control method, it is related to manipulator motion planning technical field, it can also be used in financial field.Therein, the method includes: constructing the wear uniformity parameter of each joint of redundancy manipulator in the desired repetitive motion, wherein the smaller the value of the wear uniformity parameter, the more uniform the wear of each joint of the redundancy manipulator;According to the wear uniformity parameter representation, the motion control optimization scheme of the redundancy manipulator in the acceleration layer is established, wherein the motion control optimization scheme minimizes wear uniformity parameter as optimization goal;According to the motion control optimization scheme, the acceleration information of each joint of the redundancy manipulator is solved;The acceleration information of each joint is sent to controller, and the controller is used to drive the redundancy manipulator to track the desired motion trajectory according to the acceleration information of each joint to carry out uniform wear motion.

This application provides a trajectory planning method, apparatus, robot, and computer-readable storage medium, relating to the field of robotics. The method includes: determining a transition path between a first motion segment and a second motion segment; wherein the first and second motion segments include any one of a linear motion segment, a circular motion segment, and a joint motion segment; and performing trajectory planning on the first motion segment, the second motion segment, and the transition path based on constraint information to obtain a target trajectory; wherein the constraint information includes at least one of joint velocity constraint information, joint acceleration constraint information, and joint torque constraint information of the robot joint. This application can calculate transition paths between various types of motion segments and plan the motion trajectories of multiple motion segments and transition paths based on constraint information during robot joint movement, thereby achieving smooth transitions between various types of motion segments and improving the effectiveness of smooth transitions.