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WO2018019111A1 - Robot, procédé de commande de mouvement d'articulation et dispositif associé - Google Patents

Robot, procédé de commande de mouvement d'articulation et dispositif associé Download PDF

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Publication number
WO2018019111A1
WO2018019111A1 PCT/CN2017/091971 CN2017091971W WO2018019111A1 WO 2018019111 A1 WO2018019111 A1 WO 2018019111A1 CN 2017091971 W CN2017091971 W CN 2017091971W WO 2018019111 A1 WO2018019111 A1 WO 2018019111A1
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WO
WIPO (PCT)
Prior art keywords
motion
target
joint
motion trajectory
trajectory
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/091971
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English (en)
Chinese (zh)
Inventor
刘若鹏
陈娟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Kuang Chi Hezhong Technology Ltd
Original Assignee
Shenzhen Kuang Chi Hezhong Technology Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Kuang Chi Hezhong Technology Ltd filed Critical Shenzhen Kuang Chi Hezhong Technology Ltd
Publication of WO2018019111A1 publication Critical patent/WO2018019111A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

Definitions

  • the present invention relates to the field of robots, and in particular to a robot and its joint motion control method and apparatus.
  • the existing joint trajectory interpolation methods are: parabolic trajectory planning, cubic polynomial or high-order polynomial, etc.; the two methods can be subdivided into over-path points. And the path point.
  • the simple use of a certain trajectory method to achieve motion must have the following limitations: First, there are many parabolic methods for passing path points. The solution does not constrain the acceleration curve. In actual use, the robot system is susceptible to shock and vibration. Second, the high-order polynomial trajectory fitting can ensure that the velocity and acceleration curves are smooth and continuous, but there are more coefficients to be solved, and the calculation is complicated.
  • the method for calculating the motion trajectory of the target joint according to the target motion type of the target joint includes: if the target motion type is continuous motion, determining the motion trajectory calculation method of the target joint is a high-order polynomial algorithm, and calculating the target by using the motion trajectory calculation method
  • the motion trajectory of the joint includes: a motion trajectory between the start position and the end position is fitted by a high-order polynomial algorithm, wherein the motion track passes through a preset path point between the start position and the end position, and the preset path point is continuous
  • controlling the movement of the target joint according to the motion trajectory includes: controlling the motion trajectory movement between the start position and the end position of the target joint fitted according to the high-order polynomial algorithm.
  • the high order polynomial algorithm is a cubic polynomial algorithm.
  • the target joint includes a first joint and a second joint
  • the target motion type of the first joint is a point motion
  • the target motion type of the second joint is a continuous motion
  • the determining unit includes: a first determining module, configured to The target motion type of one joint determines that the motion trajectory calculation method of the first joint is a parabola algorithm
  • the second determining module determines that the motion trajectory calculation method of the second joint is a high-order polynomial algorithm according to the target motion type of the second joint.
  • the invention obtains a target motion type of a target joint of a robot, wherein the target motion type is a target type of the target joint motion, the target motion type includes a point motion and a continuous motion; and the target joint motion trajectory is determined according to the target motion type of the target joint.
  • Calculation method; calculating the target joint by the motion trajectory calculation method The motion trajectory; and the control target joint movement according to the motion trajectory solves the problem of high limitation caused by the single calculation method of the joint motion trajectory of the robot, thereby achieving the effect of flexibly controlling the joint motion trajectory of the robot.
  • FIG. 1 is a flow chart of a robot joint motion control method according to an embodiment of the present invention
  • Step S102 Acquire a target motion type of the target joint of the robot.
  • Step S104 Determine a motion trajectory calculation method of the target joint according to the target motion type of the target joint.
  • the embodiment adopts a target motion type of acquiring a target joint of the robot, wherein the target motion type is a target type of the target joint motion, the target motion type includes a point motion and a continuous motion; and the target joint motion is determined according to the target motion type of the target joint.
  • Trajectory calculation method calculating the motion trajectory of the target joint by the motion trajectory calculation method; and controlling the target joint to move according to the motion trajectory, thereby solving the problem of high limitation caused by the single calculation method of the joint motion trajectory of the robot, thereby achieving the flexible control robot The effect of the joint motion trajectory.
  • the calculating unit 30 is configured to calculate a motion trajectory of the target joint by using a motion trajectory calculation method.
  • the determining unit 20 is configured to determine, when the target motion type is continuous motion, a motion trajectory calculation method of the target joint is a high-order polynomial algorithm, and the calculating unit 30 is configured to fit the start position and the end position by using a high-order polynomial algorithm.
  • a motion trajectory wherein the motion trajectory passes a preset path point between the start position and the end position, the preset path point is a path point through which the continuous motion passes
  • the control unit 40 is configured to control the target joint according to a high order polynomial algorithm The motion path motion between the starting position and the ending position of the fit.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un robot, un procédé de commande de mouvement d'articulation, et un dispositif associé. Le procédé de commande de mouvement d'articulation pour le robot comprend les étapes consistant à : acquérir des types de mouvements cibles d'une articulation cible du robot, ces types de mouvements cibles étant des types de destination d'un mouvement d'articulation cible, et ces types de mouvements cibles comprenant un mouvement point à point et un mouvement continu; en fonction des types de mouvements cibles de l'articulation cible, déterminer un procédé de calcul de trajectoire de mouvement pour l'articulation cible; calculer une trajectoire de mouvement de l'articulation cible à l'aide du procédé de calcul de trajectoire de mouvement; et commander l'articulation cible pour qu'elle exécute un mouvement conformément à la trajectoire de mouvement. A l'aide de ce procédé, le problème de la technique existante, selon lequel l'absence de variation dans des procédés de calcul de trajectoire de mouvement destinés à des articulations de robot a provoqué de nombreuses limitations, est résolu.
PCT/CN2017/091971 2016-07-29 2017-07-06 Robot, procédé de commande de mouvement d'articulation et dispositif associé Ceased WO2018019111A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610619162.2 2016-07-29
CN201610619162.2A CN107662205A (zh) 2016-07-29 2016-07-29 机器人及其关节运动控制方法和装置

Publications (1)

Publication Number Publication Date
WO2018019111A1 true WO2018019111A1 (fr) 2018-02-01

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Application Number Title Priority Date Filing Date
PCT/CN2017/091971 Ceased WO2018019111A1 (fr) 2016-07-29 2017-07-06 Robot, procédé de commande de mouvement d'articulation et dispositif associé

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CN (1) CN107662205A (fr)
WO (1) WO2018019111A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
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CN113730178A (zh) * 2021-07-27 2021-12-03 深圳华鹊景医疗科技有限公司 上肢等速训练康复机器人系统及机器人控制方法
CN113954081A (zh) * 2021-12-07 2022-01-21 中国煤炭科工集团太原研究院有限公司 一种锚杆支护机器人的工作臂轨迹规划方法及系统
CN114174009A (zh) * 2019-09-30 2022-03-11 西门子（中国）有限公司 控制机器人的方法、装置、系统、存储介质和终端
CN115592675A (zh) * 2022-12-01 2023-01-13 今麦郎饮品股份有限公司（Cn） 一种基于移动式饮品制备机械臂的控制系统
CN115781631A (zh) * 2022-09-30 2023-03-14 中山大学 一种在轨行走组装机器人步态优化方法及系统
CN117406756A (zh) * 2023-12-06 2024-01-16 苏州元脑智能科技有限公司 一种运动轨迹参数的确定方法、装置、设备和存储介质

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CN108333968B (zh) * 2018-02-11 2021-05-25 昆山艾派科技有限公司 机器人单步运动的轨迹规划方法
CN109304711A (zh) * 2018-10-29 2019-02-05 广州卫富科技开发有限公司 串联机器人轨迹规划方法
CN111216119B (zh) * 2018-11-23 2022-04-15 深圳市优必选科技有限公司 机器人关节运动控制方法、装置及终端设备
CN111273783B (zh) * 2020-03-25 2023-01-31 北京百度网讯科技有限公司 数字人的控制方法及装置
CN111813115B (zh) * 2020-07-08 2023-06-09 山东交通学院 四足完全腾空项步态控制方法、系统及四足机器人

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CN101531006A (zh) * 2009-03-31 2009-09-16 清华大学 双足机器人动力式行走方法
CN101733750A (zh) * 2009-11-05 2010-06-16 浙江大学 基于动态响应谱的关节含间隙机器人轨迹规划方法
JP2013248682A (ja) * 2012-05-30 2013-12-12 Kobe Steel Ltd 多関節ロボットの軌跡制御装置および制御方法
CN103085072A (zh) * 2013-03-11 2013-05-08 南京埃斯顿机器人工程有限公司 基于三维建模软件实现工业机器人离线编程的方法
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CN105171744A (zh) * 2015-07-29 2015-12-23 浙江理工大学 五自由度旋转链式码垛机械臂的运动控制方法

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114174009A (zh) * 2019-09-30 2022-03-11 西门子（中国）有限公司 控制机器人的方法、装置、系统、存储介质和终端
CN114174009B (zh) * 2019-09-30 2023-07-21 西门子（中国）有限公司 控制机器人的方法、装置、系统、存储介质和终端
CN113730178A (zh) * 2021-07-27 2021-12-03 深圳华鹊景医疗科技有限公司 上肢等速训练康复机器人系统及机器人控制方法
CN113954081A (zh) * 2021-12-07 2022-01-21 中国煤炭科工集团太原研究院有限公司 一种锚杆支护机器人的工作臂轨迹规划方法及系统
CN115781631A (zh) * 2022-09-30 2023-03-14 中山大学 一种在轨行走组装机器人步态优化方法及系统
CN115592675A (zh) * 2022-12-01 2023-01-13 今麦郎饮品股份有限公司（Cn） 一种基于移动式饮品制备机械臂的控制系统
CN115592675B (zh) * 2022-12-01 2023-09-12 今麦郎饮品股份有限公司 一种基于移动式饮品制备机械臂的控制系统
CN117406756A (zh) * 2023-12-06 2024-01-16 苏州元脑智能科技有限公司 一种运动轨迹参数的确定方法、装置、设备和存储介质
CN117406756B (zh) * 2023-12-06 2024-03-08 苏州元脑智能科技有限公司 一种运动轨迹参数的确定方法、装置、设备和存储介质

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