50 results about "Motor execution" patented technology

The present invention relates to a vision following control method of a robot and a robot. A sensor detection unit is configured to detect the surrounding environment, obtain the depth datagram of the environment, and send the obtained depth datagram to a data processing control unit; the data processing control unit is configured to process the received date after receiving the depth datagram, obtain the real world coordinate system, identify the human and barriers in the environment, and perform skeleton and motion identification and tracking of a following object to obtain an execution command; and a motion execution unit is configured to control the robot to track the following object according to the obtained following object information, and controlling the robot according to the obtained execution command to execute the command. The vision following control method of the robot and the robot are able to rapidly identify the following object, complete the effective identification of the following object in the environment having many people and rapidly make out reaction for the position changing of the following object, and are applicable to the vast majority of the commercial application scenes.

The invention discloses a multi-joint robot track planning method under constraint of a safety space and belongs to the technical field of robot track planning. The method comprises the following steps that (1) the safety space is set; (2) manual demonstration is conducted; (3) interference checking is conducted; and (4) motor execution is conducted. By means of the multi-joint robot track planning method under constraint of the safety space, the number of demonstration points is reduced to a great extent, so that the task load of demonstration work is relieved, the manual demonstration efficiency is improved, and meanwhile the interference problem caused by an uncertain middle path of point-to-point motion is avoided.

The invention discloses a two-freedom motor execution mechanism and a six-freedom micro-motion stage thereof. The two-freedom motor execution mechanism comprises a base, a voice coil motor, two horizontal linear motors and horizontal motor guide rails, wherein the voice coil motor and each horizontal linear motor are respectively provided with a stator and a rotor, the base is fixedly connected with the stator of the voice coil motor, the rotor of the voice coil motor is connected with the horizontal motion guide rails via an air floatation decouple unit, the two horizontal linear motors are symmetrically arranged according to the central shaft of the two-freedom motor execution mechanism, whose stators are fixedly connected with the base and the rotors are fixedly connected with the horizontal motion guide rails. The six-freedom micro-motion stage comprises three two-freedom motor execution mechanisms mounted on a base and distanced of 120 degrees. The invention uses integrated two-freedom motor execution mechanisms to realize the six-freedom adjustment of the micro-motion stage, having high adjusting accuracy, high integrality, good control property and compact structure.

The invention discloses a compensation type integrated-motor electronic control brake system composed of a brake pedal operation mechanism, a motor execution mechanism, a brake master cylinder with oil storage cup assembly, a hydraulic control unit, an electronic control unit and a motor driving controller. The brake pedal operation mechanism is connected with the motor execution mechanism. The motor execution mechanism is connected with the brake master cylinder with oil storage cup assembly. The hydraulic control unit is respectively and mechanically connected with the brake master cylinder with oil storage cup assembly and each brake wheel cylinder through a hydraulic oil pipe and a connector. The electronic control unit is respectively in circuit connection with the hydraulic control unit and the motor driving controller. The motor driving controller is connected with the motor execution mechanism through a circuit. In the process of operation of an automobile, the compensation type integrated-motor electronic control brake system can rapidly and precisely recognize the braking intention of a driver, external operation conditions of the automobile, and the automobile state, according to the actual operation working conditions, active safety control such as ABS, TCS and ESP over the automobile is conducted in real time, the automobile is prevented from entering dangerous working stations such as the unstable state, and stable parking can be achieved in the situation that the system is ineffective.

The invention relates to a high-precision six-axis laser measurement device and a method thereof. The device comprises a laser interferometer system, a workbench and a motor execution system. The laser interferometer system comprises three laser interferometers vertically arranged along x-axis and used for measuring the displacement of the workbench along three vertical three axes (Z, Theta x, Theta y), two laser interferometers arranged along x-axis and used for measuring the displacement X of the workbench along x-axis and a rotor rotation angle Theta z, a laser interferometer arranged along y-axis and used for measuring the displacement Y of the workbench along y-axis. The workbench is connected with the motor execution system via a washer and driven by the motor execution system to perform spatial six-axis displacement. The invention has the advantages of high measurement precision, low error, and strong generality; and is suitable for calibration of non-contact type and contact type displacement sensors, and calibration of the displacement accuracy of the multi-axis motor executor.

The invention belongs to the technical field of thermal power generating unit peaking, and particularly relates to a thermal power generating unit loading control system and a thermal power generating unit loading control method based on continuously adjustable back pressure. The system comprises a high-pressure cylinder, a medium-pressure cylinder, a low-pressure cylinder, a generator, a condenser, a circulation water pump, a control system, a condensate pump, a boiler, and a circulating water pump motor execution unit, and is characterized by further comprising a back pressure continuous adjustment system. The method includes the first step that a logical judgment unit in the control system judges a working situation of a unit, the second step that a back pressure protection sub-system enters an execution stage, the third step that a best back pressure sub-system enters the execution stage and the fourth step that a varying load control sub-system enters the execution stage. In terms of a wet cooling unit, by means of continuous adjustment of circulating water flow, back pressure of the unit can be changed and varying load control for the unit can be achieved to a certain extent. Therefore, the system and the method can change varying load operation characteristics and economical efficiency of the thermal power generating unit.

The invention relates to a hybrid active rehabilitation method and device based on mirror neurons and a brain-computer interface. The invention aims to provide the hybrid active rehabilitation methodand device based on mirror neurons and the brain-computer interface, so as to improve the enthusiasm of rehabilitation training of a patient and promote reconstruction of brain functions. According tothe technical scheme, the hybrid active rehabilitation method based on the mirror neurons and the brain-computer interface is characterized in that the method comprises the steps: presenting the external stimulation capable of stimulating the mirror neurons of a patient to generate an active movement idea to the patient; acquiring an electroencephalogram signal containing an active motion idea ofthe patient; analyzing the motion intention of the patient according to the electroencephalogram signal; and controlling a motion execution module to assist the affected limb of the patient to complete motion corresponding to the patient motion intention according to the patient motion intention. The method is suitable for the field of brain rehabilitation training.

An individual's fine-motor skills can be assessed using a force-feedback haptic unit that includes an end-effecter and programmable settings. To assess these skills, a tangible computer readable medium initializes the programmable settings with a set of initial settings. It then presents a 3-D representation of a character or characters to a user. The user in turn is prompted to mimic the character(s) on a work space. While the user is attempting to mimic the character(s) using the end-effecter on the work space, timed stroke data are collected from the force-feedback haptic unit. Using the timed stroke data, an analysis is then generated to determine the user's precision and accuracy of mimicking the character.

The invention relates to a power cut protection device of a solar automatic tracing system, comprising electrical source (1), an electricity grid testing circuit (2), standby electrical source (3), a relay (4), an automatic tracing controller (5) and an electrical motor execution system (6). The input terminal of the electricity grid testing circuit (2) is connected with the electrical grid, the output terminal is connected with the I / O port of the automatic tracing controller (5); the input port of the standby electrical source (3) is connected with the electrical grid, the output terminal is connected with the relay (4), the relay (4) is connected with the power supply terminal of the automatic tracing controller (5), and the automatic tracing controller (5) is connected with the electrical motor execution system (6). The invention can detect the electrical source of the tracing system in real time and transfer the state of the electrical source to the automatic tracing controller (5). When the tracing system works normally, power is directly supplied to a gearing of the tracing system by the electrical source; when power cut happens to the electrical source, the standby electrical power supplies power to the gearing of the tracing system and executes the reset program of the tracing system, thus facilitating the solar tracing system to be in safe pose.

The invention provides a point calm increment intelligent control method of a two-wheeled robot. In the control method, an increment controller containing a task adaption level and an operation control level is provided, and an expected wheel speed as ratio controller output in the prior art is used as an expected wheel speed adaptive value of the task adaption level output in the increment controller provided by the invention, thereby solving the problem of stability of point calm control caused by the non-holonomic constraints problem of the robot; and the operation control level is added to carry out further increment wheel speed following control on the expected wheel speed adaptive value, thereby solving the stability problem of the point calm control caused by acceleration and speed constraint limitation which necessarily exist in a motion execution system, ensuring that the motion curve of the good robot is obtained, and effectively improving the rapidity of the motion of the robot simultaneously.

The invention relates to an MEMS (micro-electromechanical system) angular speed and acceleration sensor automatic demarcating method and a system thereof. The system comprises a sensor mounting platform, a signal collector with a USB (universal serial bus) interface and an A / D (analog to digital) converting function, a steeping motor control module, a stepping motor execution control module, a sensor signal value collecting module and an automatic demarcating module, the stepping motor control module, the sensor signal value collecting and the automatic demarcating module execute on a PC (personal computer), the stepping motor execution control module executes on a single chip microcomputer, the stepping motor control module is further provided with a human-computer interface on the PC, the stepping motor control module and the stepping motor execution control module adopt the subdivision technology to subdivide rotating angle and rotating speed of a stepping motor rotary shaft. By adopting the MEMS angular speed and acceleration sensor automatic demarcating method and the system thereof, demarcating personnel is not needed to personally perform data processing for each demarcation to obtain demarcating results, so that workload is reduced for the demarcating personnel.

The invention relates to the technical field of in-situ characterization of mechanical properties and microstructure of materials and provides an in-situ micro mechanical test board. The test board comprises a motor execution mechanism, a spring auxiliary loading mechanism, a position sensing mechanism, a force sensing mechanism and a base, wherein the motor execution mechanism is fixed on the base, rotation output of a motor around the axial direction is converted into linear motion of the spring auxiliary loading mechanism through steering and transmission, the spring auxiliary loading mechanism applies a load to a sample, the position sensing mechanism detects the relative position variation, namely the sample deformation quantity, of the spring auxiliary loading mechanism in real time,and the force sensing mechanism detects a stress value borne by the sample in real time. The test board is advantaged in that a clamp supporting frame and a lead screw nut pair are elastically connected in the axial direction of a lead screw, on the basis, a load oscillator is additionally arranged, so fatigue performance testing of the sample and in-situ characterization of the microstructure morphology, chemical components, the crystal structure and the phase structure information of the material under the action of the fatigue load can be realized, the structure is reasonable and compact,and fine control under a force control mode is facilitated.

The invention belongs to the technical field of intelligent control of dust cleaners and discloses a control system of a smart novel dry-and-wet dust cleaner robot. The system comprises a sensing unit for sensing real-time information, a master controller unit for receiving information transmitted by the sensing unit and analyzing and processing the information as well as a motor execution unit for receiving a control instruction from the master controller unit and performing corresponding motions. The dry-and-wet robot is more intelligent with the adoption of various sensors; with the adoption of the motor execution unit, the robot is more convenient to use and more diversified in function, labor resources are saved to a great extent, and the robot is really energy-saving and environment-friendly and has very high practicability.

The invention discloses a rapid erythrocyte sedimentation rate measuring method and a measuring device thereof. The measuring method comprises the steps that the geometric size of an erythrocyte sedimentation rate tube is modified, a photovoltaic detecting sensor is used for detecting the height value change of the sedimentation surface of erythrocyte in the modified erythrocyte sedimentation ratetube in the erythrocyte sedimentation process, an erythrocyte sedimentation rate Westergren value is obtained by a modern signal processing method and a regression algorithm, the measuring time of the rapid measuring method is half the time of a traditional Westergren method, and the correlation of the rapid measuring method with the Westergren method achieves 99%. The measuring device comprisesa microprocessor 01, a motor driving module 02, a motor execution module 03, a mechanical motion module 04 and a photovoltaic module 05. A rapid erythrocyte sedimentation rate analyzing meter is established by the rapid erythrocyte sedimentation rate measuring method and the measuring device thereof, a rapid erythrocyte sedimentation, rapid painting of an erythrocyte sedimentation rate value and erythrocyte sedimentation rate process curve can be realized, erythrocyte sedimentation rate sample measuring of a large batch can be automatically carried out, and the practical value is high.

The invention belongs to the technical field of industrial robot driving and especially relates to an industrial robot intelligent driving system. The output of a position giving module is connected to the giving end of a position comparison PID adjustment module. The output of the position comparison adjustment PID module is connected to the input end of a position limiting module. The output of the position limiting module is connected to the limiting end of a speed comparison PID adjustment module. The output of the speed comparison PID adjustment module is connected to the giving end of a current comparison PID adjustment module. The output of the current comparison PID adjustment module is connected to a power amplification module. The output of the power amplification module is connected to the motor execution module. According to the system, the problems of a large starting torque inertia ratio and poor following characteristic in the prior art are solved, and the system has the advantages of a good following characteristic, a high starting torque, high safety, and a wide range of application.

An oral implant robot control system based on state capture comprises a motion execution module, a motion control module, a sensing module, a marker module, an expert database system robot operation skill reinforcement learning system and an information storage module, and the sensing module comprises a six-dimensional force sensor and an image information acquisition unit; the marker module comprises a patient oral marker and a glove with the marker; the expert database system comprises internal bone density information of alveolar bones of a patient, an implantation scheme, an intra-operative robot motion state and control parameters and error analysis. The invention further provides an operation method of the oral implant robot control system based on state capture. Movement of the robot is more suitable for operation habits of doctors, the robot and the doctors can be more smoothly matched during the oral implanting operation in a man-machine cooperation mode, and the position and shape precision of the prepared cavity is improved.

The invention discloses an automatic sun chasing gesture control system for a solar power generation device, which comprises a motor execution unit. The motor execution unit is connected with a control box; the control box is provided with a main controller and a power circuit; an inner clock circuit and a main control operation procedure are stored in the main controller; the main controller line is connected with a sun position sensor for feeding position coordinate information of the sun in an image back and an upper computer used for manually setting parameters of the latitude and the longitude where the solar power generation device is located; the main controller calculates and obtains the azimuth angle and the elevation angle of the sun according to the input latitude and longitude parameters and the real-time time parameters provided by the inner clock and then controls a solar photovoltaic panel to rotate to the calculated and obtained azimuth angle and the elevation angle of the sun; and the main controller controls the solar photovoltaic panel to rotate to the calibrated sun position coordinate according to the real-time sun position coordinate information inputted by the sun position sensor, and high-precision control on the sun chasing gesture of the power generation device can be realized.

The invention discloses a compensation type integrated-motor electronic control brake system composed of a brake pedal operation mechanism, a motor execution mechanism, a brake master cylinder with oil storage cup assembly, a hydraulic control unit, an electronic control unit and a motor driving controller. The brake pedal operation mechanism is connected with the motor execution mechanism. The motor execution mechanism is connected with the brake master cylinder with oil storage cup assembly. The hydraulic control unit is respectively and mechanically connected with the brake master cylinder with oil storage cup assembly and each brake wheel cylinder through a hydraulic oil pipe and a connector. The electronic control unit is respectively in circuit connection with the hydraulic control unit and the motor driving controller. The motor driving controller is connected with the motor execution mechanism through a circuit. In the process of operation of an automobile, the compensation type integrated-motor electronic control brake system can rapidly and precisely recognize the braking intention of a driver, external operation conditions of the automobile, and the automobile state, according to the actual operation working conditions, active safety control such as ABS, TCS and ESP over the automobile is conducted in real time, the automobile is prevented from entering dangerous working stations such as the unstable state, and stable parking can be achieved in the situation that the system is ineffective.

The invention discloses a simulation training device for an atrial fibrillation radiofrequency ablation operation. The simulation training device comprises a controller, a driver, an execution motor,a motion conversion mechanism, a motion platform, an atrial model and a femoral vein-to-inferior vena cava model; the placement positions of the atrial model and the femoral vein-to-inferior vena cavamodel accord with a human anatomical structure, and the atrial model is fixed on the motion platform; the controller is connected with the driver, a pulse output port of the driver is connected withthe execution motor, and the driver reads a control program of the controller and drives the execution motor to move; the execution motor drives the motion platform to reciprocate in the front midlinedirection of a human body in an anatomical structure of the human body through the motion conversion mechanism. The simulation training device for atrial fibrillation radiofrequency operation can accurately and truly simulate the displacement influence of breathing of a patient on the atrium in an actual operation, and ablation big head displacement and pressure change caused by displacement.

The embodiment of the invention discloses an image acquisition device. One specific embodiment of the method comprises: a lens, which is installed on an automatic stability augmentation motor execution mechanism and is used for receiving an optical signal of a target object; an automatic stability augmentation motor executing mechanism which is used for acquiring the jitter amount of the lens andperforming reverse control on the lens according to the acquired jitter amount so as to stabilize the lens; and an image acquisition equipment main body which is connected with the automatic stabilityaugmentation motor execution mechanism and is used for converting the optical signal received by the lens into an electric signal and generating an image of the target object. According to the imageacquisition device disclosed by the embodiment of the invention, the stability of the device in the image acquisition process is ensured, and the quality of the generated image is improved.

The invention discloses a controlling system and method of a full automatic protein chip immunoassay analyzer. The controlling system structurally comprises an industrial control machine part, a scanning gun, a pneumatic execution part, a digital signal detection part, a display, an operator, a CCD (Charge-Coupled Device)camera photographing part and a motor execution part, wherein the industrialcontrol machine part comprises a controller, a first D / A (Digital-to-Analog) converter, a second D / A converter, a data analysis unit, a first interface, an image processing module and a second interface. The controlling system and method of the full automatic protein chip immunoassay analyzer disclosed by the invention have the advantages that the structure is simple and effective, the operation is convenient, the situations that twice incubation of protein chips is automatically completed by the full automatic protein chip immunoassay analyzer and then CCD photographing is carried out can becontrolled, immunoassay is carried out, and automatic addition of reaction cups, diluent, blood samples and chips as well as cleaning and blow-drying can be realized, and normal processing and urgentprocessing on samples can be realized; therefore, the applicability is strong, and the efficiency is high.

The invention relates to a tubular motor remote controller. The tubular motor remote controller mainly comprises a single chip microcomputer, a key unit, an external input unit, a time relay, a buffer unit, a motor execution circuit trigger unit and a switch unit, wherein the key unit, the external input unit, the time relay, the buffer unit, the motor execution circuit trigger unit and the switch unit are respectively connected to the single chip microcomputer, and the switch unit is further connected with a power supply unit, and the time relay is further connected to an infrared emission unit; the key unit is a circuit for controlling a four-way switch by one key and is provided with a display lamp; and the motor execution circuit trigger unit is capable of emitting trigger signals of different frequencies, and receiving units capable of receiving corresponding frequency signals are arranged on corresponding motor execution circuits and are used for controlling the on-off states of normally open switches connected with the motor execution circuits in series. According to the tubular motor remote controller, the operation of multiple tubular motors can be controlled by one key, and the operation time can be set, so that a user can conveniently and simply stop a roller shutter door at a required position.

The invention discloses a low energy consumption motor control system, which comprises a motor. The low energy consumption motor control system further comprises a cutter head connection module, a cutter head identification module, a material analysis module, a motor execution module, a human-machine interaction module, an energy consumption detection module, an effect feedback module, and a shared server; the type and weight of a material are automatically identified, a suggestion for selection of a cutter head is given without selection by a user, and using by the user is convenient; the shared server generates an adjustment instruction that is convenient for the user to use, can improve the stirring efficiency and reduce energy consumption; the motor execution module automatically adjusts the torque, rotation speed, and stirring time of the motor according to the adjustment instruction without setting by the user, the difficulty of using is reduced, and using is convenient for the user; the user selects whether to execute manual setting to extend the stirring time; and an execution record can be corrected, so that the shared server generates more accurate adjustment instructions.

The invention discloses a gesture processing method and device, electronic equipment and a readable storage medium, and the method comprises the following steps: recognizing an image, and obtaining a plurality of hands and gestures thereof in the image; if the gesture change of a certain hand in the plurality of hands is the first specific gesture change, judging the certain hand as an operating hand; predicting the predicted position of the manipulator at the second moment, and in a prediction region within a set range taking the predicted position as a reference, determining a hand having the same characteristics as the manipulator at the first moment, and / or having the same gesture as the manipulator at the first moment, and / or having the closest distance to the predicted position as the manipulator; therefore, the manipulator is tracked; and executing a corresponding operation command according to the operation gesture of the operator or the motion of the operation gesture. The method is suitable for a multi-hand application scene, and the user experience of air gesture man-machine interaction can be improved.

The invention relates to an intelligent access control system for TCM decoction piece packages. The system comprises a control unit, an encoder, a motor execution module, a light curtain, and a proximity switch. The motor execution module comprises a motor and a chain, wherein the transmission of the chain is controlled by the motor. The control unit and the motor are connected. The control unit controls the starting, the stopping and the rotating speed of the motor. The input end of the encoder is connected with the motor and the output end of the encoder is connected with the control unit. The encoder is used for acquiring the rotation turns and the displacement of the motor, and then transmitting the rotation turns to the control unit. The light curtain is used for judging whether a pharmacist gets the medicine at a medicine outlet or not during the operation of the motor, and then sending a light curtain trigger signal to the control unit. The control unit controls the motor to stop running upon receiving the trigger signal. According to the technical scheme of the invention, the automation of a medicine outputting part in a TCM pharmacy is realized. Meanwhile, the problems that TCM pharmacies are low in medicine outputting efficiency and large in error probability can be solved.

The invention discloses a dual motor regulated CVT electronic control system and method. The control system comprises a single chip microcomputer, externally-input throttle opening degree signals andgear position signals are input into an analog quantity of the single chip microcomputer, and the single chip microcomputer is internally provided with an AD conversion module; a vehicle brake signalis input to the single chip microcomputer, and the signal is a switch quantity; an engine rotating speed signal is input to be a pulse signal, conversion is carried out through a pulse measuring circuit, and the rotating speed calculated by a periodic method and a frequency method is input into the single chip microcomputer; a target speed ratio value is calculated in the single chip microcomputeraccording to the function relationship between the input signal and a target speed ratio, the target speed ratio value is used for changing the PWM duty ratio of two motor execution modules, the rotating speed of two speed ratio motors is continuously controlled in a coordinated manner, the actual speed ratio value continuously levels off to the target speed ratio value, and the final target speed ratio value is finally achieved; and the motors are locked through locking modules when the two speed ratio motors do not work, and the best performance of a vehicle is achieved.

A control system of a rotary table and a sample analyzer. The system is based on a rotary table driven by a motor and comprises: a control unit (102) configured to receive a rotary table control instruction, convert the rotary table control instruction into a corresponding rotary table rotation parameter corresponding to the rotary table control instruction, and send the rotary table rotation parameter to an execution unit (104); the execution unit (104) configured to drive a rotary table driving unit (108) to rotate according to the rotary table rotation parameter; and a position sensor unit (106) configured to detect rotary table position information of the rotary table and send the information to the execution unit (104). The position sensor unit is provided with a plurality of trigger positions, and the trigger position move along with the rotary table in the rotation process of the rotary table. The execution unit (104) is further configured to determine whether the rotary table arrives at a specified position according to the rotary table position information, if yes, a rotary table control state parameter is modified into a motion completed state, and the control unit (102) is further configured to detect the rotary table control state parameter and return, under the condition of the motion completing state, prompt information that a motion is normally completed.

The invention discloses an automatic drug delivery system and a drug delivery method for hydroxycamptothecin injection. The automatic drug delivery system comprises an infusion module, a human-computer interaction module, a display module, a timing module, a motor execution module, an alarm monitoring module and a computer processing module. The drug delivery method includes: inputting prepared liquid medicine into the infusion module, setting or confirming drug delivery amount, drug delivery time, intermittent time, drug delivery times and alarm information; monitoring whether warning information exists or not, and if not, operating first-time drug delivery while the timing module starts timing; when the set drug delivery time is up, allowing a motor to pause to enter a low-power-consumption mode while timing is unstopped; when the set intermittent time is up, automatically increasing the drug delivery times by one, and allowing a motor module to reoperate to start next-time drug delivery; and finishing drug delivery when drug delivery times in operation is larger than the initially set drug delivery times. Using the system and the method can improve curative effects of hydroxycamptothecin and reduce drug toxic and side effects, and accordingly quality of life can be improved for patients.

The invention discloses a bionic motion control method of a wheel-leg compound robot based on CPG, comprising the steps of: step 1, establishing a CPG network model; step 2, outputting a rhythm signal; step 3, function mapping and step 4, motion execution . According to the different movement modes of the wheel and the legs of the robot, the invention maps the periodic change signal to the movement control function of the corresponding mode, so as to realize the smooth and fast switching of the movement modes of the wheel and the legs. Therefore, it has the characteristics of simple calculation and convenient control, and the environmental adaptability and robustness have been improved. The switch is used to switch the wheel and leg motion modes of the robot, and the Sigmoid function method is used to smooth the transition of the control signal during the switching process. , to achieve smooth and fast switching of wheel and leg movement modes during movement. In addition, during the transition between wheel and leg motion modes, the robot can continue to move forward without pause.

The invention discloses a multi-joint robot track planning method under constraint of a safety space and belongs to the technical field of robot track planning. The method comprises the following steps that (1) the safety space is set; (2) manual demonstration is conducted; (3) interference checking is conducted; and (4) motor execution is conducted. By means of the multi-joint robot track planning method under constraint of the safety space, the number of demonstration points is reduced to a great extent, so that the task load of demonstration work is relieved, the manual demonstration efficiency is improved, and meanwhile the interference problem caused by an uncertain middle path of point-to-point motion is avoided.