Robot Joint Motion Interpolation for Smooth Motor Control

Solution Overview

Problem

Existing motion control systems face challenges in setting adequate motion parameters, leading to unstable motor operation and high requirements for communication and calculating capabilities, making it difficult for users to achieve smooth robot motion.

Innovation Solution

A motion control method that involves obtaining a sequence of motion parameters, interpolating them to create an interpolation parameter sequence, and calculating driving parameters to drive the motion component, reducing the need for extensive user input and enhancing system stability through interpolation techniques such as trapezoidal and polynomial curve interpolation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If more motion parameters are set to reduce acceleration and deceleration impact, then motion stability is improved, but device complexity and user workload increase significantly

Engineering Contradiction:

Improvemotion stabilityVSAvoidparameter setting complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The system performs preliminary interpolation processing on motion parameters before execution. By pre-calculating intermediate position, speed, and acceleration values between start and end points, the system automatically generates the detailed parameter sequence needed for smooth motion without requiring manual configuration of each parameter point.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The motion control component autonomously performs interpolation calculations using built-in algorithms. The system self-generates the required motion parameter sequences by automatically computing intermediate values based on simple start and end parameters, eliminating the need for external manual parameter setting and reducing user workload.

Inventive Principle:

Principle #25Self-service

2Reliability

If more motion parameters are set to ensure smooth motion, then motion stability is improved, but communication and calculation requirements increase

Engineering Contradiction:

Improvemotion stabilityVSAvoidcommunication and calculation capability

Core Design Contradiction:

ReliabilityVSPower

Solution Approach 1:

The system performs preliminary interpolation processing on motion parameters before execution. By pre-calculating intermediate position, speed, and acceleration values between start and end points, the system automatically generates the detailed parameter sequence needed for smooth motion without requiring manual configuration of each parameter point.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The motion control component autonomously performs interpolation calculations using built-in algorithms. The system self-generates the required motion parameter sequences by automatically computing intermediate values based on simple start and end parameters, eliminating the need for external manual parameter setting and reducing user workload.

Inventive Principle:

Principle #25Self-service

3Ease of operation

If fewer motion parameters are set, then user workload is reduced, but acceleration and deceleration impact on motor and speed reducer increases

Engineering Contradiction:

Improveuser workloadVSAvoidimpact on motor and speed reducer

Core Design Contradiction:

Ease of operationVSObject-affected harmful factors

Solution Approach 1:

The system introduces an interpolation module as an intermediary between simple user-defined parameters and the motor execution layer. This intermediary automatically generates intermediate parameter points that smooth out acceleration and deceleration profiles, protecting the motor and speed reducer from harmful impacts while keeping user input minimal.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The system performs preliminary interpolation processing on motion parameters before execution. By pre-calculating intermediate position, speed, and acceleration values between start and end points, the system automatically generates the detailed parameter sequence needed for smooth motion without requiring manual configuration of each parameter point.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS11975452B2Motion control method, device and system, and storage medium

Publication Date: 2024.05.07 MEGAROBO TECH CO LTD

AI summary

A motion control method is provided. The motion control method comprises: obtaining a sequence of motion parameters of a joint; interpolating the sequence of motion parameters to obtain an interpolation parameter sequence; and calculating driving parameters of a motion component based on the interpolation parameter sequence to drive the motion component to move. According to the motion control method, only a few of motion parameters need to be set by a user, and a lot of motion parameters can be obtained by interpolation, which make it possible for a motor or a robot to achieve smooth operation while a workload for the user is kept to be lower. A motion control device, system, and storage medium are also provided.