2 results about "Joint acceleration" patented technology

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.

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.