CN111670093A - Robot motion control method, control system and storage device - Google Patents
Robot motion control method, control system and storage device Download PDFInfo
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Abstract
A motion control method of a robot, a robot motion control system, and a storage device, wherein the motion control method includes: acquiring planning tracks and planning postures of first and second planning motions of a robot end effector, wherein the first planning motion starts from an out point and ends at an intermediate point, and the second planning motion starts from the intermediate point and ends at an in point; determining a planning gesture of transition motion of the robot end effector according to the planning gesture of the first planning motion, the planning gesture at the middle point and the planning gesture of the second planning motion of the robot end effector, wherein the transition motion starts from an out point and ends at an in point; the robot motion control system comprises a processor, wherein the processor can be loaded with program instructions and execute a motion control method of the robot; the storage device stores program instructions that can be loaded and executed to perform a motion control method of the robot. The planning gesture of the transitional motion of the robot end effector is determined by using the planning gestures of the first planning motion and the second planning motion of the robot and the planning gesture at the middle point, so that the obtained angular velocity in the planning of the transitional motion of the robot end effector is continuous, the transitional motion of the robot end effector is prevented from generating angular velocity jump, and the motion control of the robot is facilitated.
Description
The present invention relates to the field of robot control technologies, and in particular, to a robot motion control method, a robot motion control system, and a storage device.
The orbital motion of a robot generally refers to the orbital motion of the end effector of the robot. The trajectory motion description of the end effector can be divided into two parts of a path and a posture: the path describes the position of the end effector movement, i.e. the robot Center Point (TCP), i.e. the position of the origin of the robot Tool coordinate system, expressed in coordinates; the pose describes the direction of the end effector motion and may be represented in a variety of ways, such as a rotation matrix, euler angles, quaternions, and the like. If the end effector of the robot is to be controlled to move along a desired trajectory, a Continuous Path motion (CP) mode may be used, in which each CP motion is a linear motion. In general, a transition motion may be defined for two consecutive CP motions so that they transition smoothly, i.e., the end effector is caused to roll out from a point in the motion trajectory of the anterior CP and continue in the planned transition motion, and then roll back into a point in the motion trajectory of the posterior CP.
However, the existing planning method for the transitional motion generally only considers the speed continuity (or path continuity) of the front-stage CP motion, the transitional motion and the rear-stage CP motion, but does not consider the attitude continuity (i.e., angular speed continuity) of the front-stage CP motion, the transitional motion and the rear-stage CP motion, and therefore, the situation of the attitude discontinuity or the angular speed jump may exist in the transitional motion of the end effector, which affects the motion control performance of the robot.
[ summary of the invention ]
The application provides a robot motion control method, a robot motion control system and a storage device, which are used for improving the motion control performance of a robot.
In order to solve the above technical problem, one technical solution adopted by the present application is to provide a method for controlling a motion of a robot, the method including: acquiring planning tracks and planning postures of a first planning movement and a second planning movement of a robot end effector, wherein the first planning movement starts from an out point and ends at an intermediate point, and the second planning movement starts from the intermediate point and ends at an in point; and determining a planned pose of a transitional motion of the robot end effector according to the planned pose of the first planned motion, the planned pose at the intermediate point, and the planned pose of the second planned motion of the robot end effector, wherein the transitional motion starts at the inflection point and ends at the inflection point.
In order to solve the above technical problem, another technical solution adopted by the present application is to provide a method for controlling a motion of a robot, the method including: acquiring planning tracks and planning postures of a first planning movement and a second planning movement of a robot end effector, wherein the first planning movement starts from an out point and ends at an intermediate point, and the second planning movement starts from the intermediate point and ends at an in point; determining a planning track and a planning posture of transitional motion of the robot end effector, wherein the transitional motion starts from the inflection point and ends at the inflection point; wherein the step of determining a planned pose of the transitional motion of the robotic end effector comprises: determining a planned pose of a transitional motion of the robot end effector from the planned pose of the first planned motion, the planned pose at the intermediate point, and the planned pose of the second planned motion of the robot end effector.
In order to solve the above technical problem, another technical solution adopted by the present application is to provide a robot motion control system, which includes a controller, and the controller can load program instructions and execute any of the above motion control methods of the robot.
In order to solve the technical problem, another technical solution adopted by the present application is to provide a device with a storage function, wherein program instructions are stored, and the program instructions can be loaded and execute any of the above-mentioned robot motion control methods.
The beneficial effect of this application is: by determining the planned gesture of the transitional motion of the robot end effector by using the planned gestures of the first planned motion and the second planned motion of the robot end effector and the planned gesture at the intermediate point, the obtained angular velocity of the transitional motion of the robot end effector can be made continuous, and the transitional motion of the robot end effector is prevented from generating angular velocity jumps. The method is beneficial to improving the efficiency and stability of the robot motion control.
Fig. 1 is a schematic flowchart of an embodiment of a robot motion control method according to the present application.
Fig. 2 illustrates exemplary trajectories of a first planned motion, a second planned motion, and a transitional motion of a robotic end effector.
Fig. 3 is a schematic flow chart of another embodiment of a robot motion control method according to the present application.
Fig. 4 is a flowchart illustrating a robot motion control method according to another embodiment of the present invention.
Fig. 5 is a flowchart illustrating another embodiment of a method for controlling a motion of a robot according to the present application.
Fig. 6 is a schematic structural diagram of an embodiment of a robot motion control system according to the present application.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a method for controlling a motion of a robot according to an embodiment of the present disclosure. As shown, the method includes:
s101: the planning method comprises the steps of obtaining planning tracks and planning postures of a first planning movement and a second planning movement of an end effector of the robot, wherein the first planning movement starts from an out point and ends at an intermediate point, and the second planning movement starts from the intermediate point and ends at an in point.
The robot in the present application may be an industrial robot or a life service type robot. The first planned motion and the second planned motion of the end effector of the robot are linear motions, such as CP motions. The first planned movement and the second planned movement may be two consecutive CP movements or a part thereof. The inflection point is the starting point of the transition motion for smoothly connecting the two sections of CP motions, and can be understood as the inflection point of the end effector from the originally planned CP motion track when the end effector moves to the inflection point; similarly, the turning point is an end point of the transition motion for smoothly connecting the two CP motions, and may be understood as re-turning into the originally planned CP motion trajectory when the end effector moves to the turning point. The trajectories of the two consecutive CP movements of the end effector intersect at a middle point. In this embodiment, the first planned movement starts at the inflection point and ends at the middle point, and the second planned movement starts at the middle point and ends at the inflection point.
For ease of understanding, referring to fig. 2, fig. 2 shows a planned trajectory AO of a first planned movement, a planned trajectory OB of a second planned movement, and a planned trajectory AB of a transitional movement of the robot, where a is an inflection point, O is a middle point, and B is an inflection point. As shown in the figure, the front CP motion of the end effector may further include other parts before the point a, and the rear CP motion of the end effector may further include other parts after the point B, but the technical solution of the present application is not affected, and therefore, the present application is not limited thereto. If it is determined in the relevant step that the end effector will follow the planned movement of the transitional movement, the end effector will not move according to the originally planned first and second planned movements, so that the planned trajectory AO of the first planned movement and the planned trajectory OB of the second planned movement of the end effector are shown in dashed lines in the figure.
The first planned motion and the second planned motion of the end effector may be planned in advance, and in step S101, planned trajectories and planned poses of the first planned motion and the second planned motion of the end effector are acquired. The planned trajectory represents the displacement of the end effector versus time and the planned pose represents the pose of the end effector versus time. It can be understood that, according to the relationship between the displacement and the time and the relationship between the posture and the time of the motion, the relationship between the speed/acceleration and the time of the motion and the relationship between the angular speed/angular acceleration and the time can be respectively derived.
S102: determining a planned pose of a transitional motion of the end effector from a planned pose of a first planned motion of the end effector, a planned pose at an intermediate point, and a planned pose of a second planned motion, wherein the transitional motion starts at an out-turning point and ends at an in-turning point.
As previously mentioned, the transitional motion starts at the inflection point and ends at the inflection point, while the intermediate points are both points on the first planned motion trajectory and the second planned motion trajectory. To ensure continuity of the end effector motion, the planned poses of the first and second planned motions at the intermediate point should be the same, and thus may be collectively referred to as the planned poses at the intermediate point. In step S102, the planning pose of the transitional motion of the end effector is determined using the planning pose of the first planning motion, the planning pose at the intermediate point, and the planning pose of the second planning motion of the end effector, such that the planning pose of the transitional motion is the same at the inflection point as the planning pose at the inflection point of the first planning motion, the planning pose at the inflection point as the planning pose at the inflection point of the second planning motion, and the planning pose at the intermediate point is determined jointly by the planning pose of the first planning motion, the planning pose of the second planning motion, and the planning pose at the intermediate point and continuously changes in the intermediate process. The motion attitude of the end effector may have a plurality of expressions, such as a rotation matrix, an euler angle, a quaternion, and the like, and in this embodiment, the planning attitude of each motion of the end effector and the planning attitude at the intermediate point may be expressed by using an expression of any motion attitude.
In the embodiment, the planning postures of the transition motion of the end effector are determined by using the planning postures of the first planning motion and the second planning motion of the end effector and the planning posture at the middle point, so that the angular velocity in the obtained planning of the transition motion of the end effector is continuous, and the transition of the angular velocity of the transition motion of the end effector is prevented. Therefore, the present application facilitates motion control of the robot.
In some embodiments, the duration of the first planned movement and the duration of the second planned movement are the same. Taking fig. 2 as an example, the time length of the end effector moving from point a to point O according to the original plan is the same as the time length of the end effector moving from point O to point B according to the original plan. In other words, when planning the transitional movement of the end effector, two parts with the same duration can be respectively selected as the first planned movement and the second planned movement in two consecutive CP movements of the end effector. The specific values of the durations of the first planned movement, the second planned movement and the transition movement can be reasonably determined according to specific equipment parameters and user needs, and are not limited herein.
Referring to fig. 3, fig. 3 is a schematic flow chart of another embodiment of a robot motion control method according to the present application. As shown, the method includes:
s201: planned trajectories and pose rotation matrices for first and second planned motions of an end effector are obtained.
In the present embodiment, the motion posture of the end effector may be expressed in a rotation matrix. The planned trajectories and the attitude rotation matrices of the first planned movement and the second planned movement of the end effector are thus acquired in step S201. The pose rotation matrix, that is, the planned pose of the end effector represented in the form of the rotation matrix, may be used to represent the relationship of the pose of the end effector changing with time during the motion process or the pose of the end effector at some point during the motion process, depending on the specific form. Those skilled in the art will appreciate that due to the subsequent interpolation process and the presence of systematic errors, the planned pose is not exactly equal to the actual pose, which can be understood as the expected value of the end effector pose. Where the rotation matrix is denoted as Q, it may be a 3 × 3 matrix.
In step S201, the pose rotation matrix qc (t) of the first planned motion and the pose rotation matrix qn (t) of the second planned motion of the end effector may be first obtained. Wherein t is t 0-t 1, t0 represents the start time of the exercise, and t1 represents the end time of the exercise. Since the intermediate point is both the end point of the first planned movement and the start point of the second planned movement, the attitude rotation matrix of the end effector at the intermediate point can be calculated by:
Qo＝Qc(t1)＝Qn(t0)
further, an attitude rotation matrix Qc (t0) of the end effector at the start point (i.e., the inflection point) of the first planned motion and an attitude rotation matrix Qn (t1) at the end point (i.e., the inflection point) of the second planned motion may also be obtained.
S202: a planned rotation matrix of the transitional motion of the end effector is determined from the pose rotation matrix of the first planned motion of the end effector, the pose rotation matrix at the intermediate point, and the second planned motion.
In step S202, an attitude rotation matrix during the transitional motion of the end effector is determined using the attitude rotation matrix of the first planned motion, the attitude rotation matrix at the intermediate point, and the attitude rotation matrix of the second planned motion of the end effector, such that the attitude rotation matrix of the transitional motion is the same as the attitude rotation matrix at the inflection point of the first planned motion at the start point (i.e., the inflection point) and the attitude rotation matrix at the inflection point of the second planned motion at the end point (i.e., the inflection point), and the attitude rotation matrix of the intermediate process is jointly determined by the attitude rotation matrix of the first planned motion, the attitude rotation matrix of the second planned motion, and the attitude rotation matrix at the intermediate point and continuously varies.
Specifically, the pose rotation matrix of the transitional motion of the end effector is denoted as q (t). Where t has a value from t0 to t1, t0 denotes the start time of the transitional movement and t1 denotes the end time of the transitional movement. The pose rotation matrix for the transitional motion of the end effector can then be calculated by the following equation:
Q(t)＝Qn(t)*Qo-1*Qc(t)
the transitional motion of the end effector at the starting point t is t0, and the posture rotation matrix Q (t0) of the transitional motion of the end effector at the point is Qc (t0), that is, the posture rotation matrix Q (t0) of the transitional motion of the end effector at the starting point is equal to the posture rotation matrix Qc (t0) of the original first planned motion at the inflection point, which can be calculated according to the above formula. The transitional motion of the end effector at the end point t is t1, and the posture rotation matrix Q (t1) of the transitional motion of the end effector at the point is Qn (t1), that is, the posture rotation matrix Q (t1) of the transitional motion of the end effector at the end point is equal to the posture rotation matrix Qn (t1) of the original second planned motion at the turning point, according to the above formula. Furthermore, qc (t) and qn (t) are both attitude rotation matrix functions present in the original plan and are continuous (second order conductible) in the original plan, so the attitude rotation matrix q (t) for transitional motion is also continuous.
The attitude rotation matrix of the transitional motion of the end effector is determined according to the method, the obtained planned attitude rotation matrix of the transitional motion can be changed continuously (namely the angular velocity is continuous), the transitional motion of the end effector is prevented from generating angular velocity jump, and the stability and the efficiency of the robot motion control are improved.
Referring to fig. 4, fig. 4 is a schematic flowchart illustrating a motion control method of a robot according to another embodiment of the present application. As shown, the method includes:
s301: and acquiring planning tracks and planning postures of a first planning movement and a second planning movement of the end effector, wherein the first planning movement starts from an out point and ends at an intermediate point, and the second planning movement starts from the intermediate point and ends at an in point.
S302: determining a planned pose of a transitional motion of the end effector from a planned pose of a first planned motion of the end effector, a planned pose at an intermediate point, and a planned pose of a second planned motion, wherein the transitional motion starts at an out-turning point and ends at an in-turning point.
Steps S301 and S302 may be similar to steps S101 and S102 or steps S201 and S202 in the foregoing embodiments, and are not described again here.
S303: and determining a planned trajectory of the transitional motion of the end effector according to the planned trajectory of the first planned motion, the position of the intermediate point and the planned trajectory of the second planned motion of the end effector.
In some embodiments, in addition to determining the planned pose of the transitional motion of the end effector, a planned trajectory of the transitional motion of the end effector may be determined from the planned trajectory of the first planned motion of the end effector, the position of the intermediate point, and the planned trajectory of the second planned motion.
For example, the motion displacements of the first planned motion and the second planned motion may be added to synthesize the trajectory of the transitional motion according to the space vector theory. The specific formula is as follows:
P(t)-Po＝Pc(t)-Po+Pn(t)-Po
wherein t is t 0-t 1;
po is the position of the middle point;
p (t) is the position of the planned trajectory of the transitional motion of the end effector corresponding to each moment;
pc (t) is a position of the planned trajectory of the first planned movement of the end effector corresponding to each moment;
pn (t) is the position of the planned trajectory of the second planned movement of the end effector at each moment.
It follows that Pc (t0) is the position of the inflection point, Pc (t1) and Pn (t0) are the positions of the intermediate points, and Pn (t1) is the position of the inflection point.
Since the end effector has the same duration for the first planned, second planned and transitional movements (all equal t1-t0 in this embodiment, t0 may represent the start of these movements and t1 may represent the end of these movements, the positions of the intermediate points may be found to have the following relationship:
Po＝Pc(t1)＝Pn(t0)
further, it can be calculated according to the formula that, when t is t0, the planned position P (t0) of the start point of the transitional movement of the end effector is Pc (t0), i.e. the same position as the first planned movement of the end effector at the inflection point. When t is t1, the planned position P (t1) of the end point of the transitional movement of the end effector is Pn (t1), i.e., the same as the position of the second planned movement of the end effector at the turning point. In addition, pc (t) and pn (t) are both position functions present in the original plan and are continuous (second order conductible) in the original plan, so that the position function p (t) of the transitional motion is continuous at the same time.
Determining the positions of the end effector at different moments of the transitional movement according to the above method can make the planned position change to the transitional movement continuous (i.e. speed continuous), and prevent the transitional movement of the end effector from generating speed jump. Therefore, the present embodiment is advantageous for the motion control of the robot.
S304: and according to the planned track and the planned posture of the transitional motion of the end effector, interpolating the position and the posture of each moment of the actual motion of the end effector.
After the planned trajectory and the planned posture of the transitional motion of the end effector are determined in the foregoing steps, the position and the posture of each time of the actual motion of the end effector can be interpolated. The interpolation process is to calculate a plurality of intermediate points of the motion process of the end effector on the basis of planning, thereby controlling the motion of the end effector in each step. For example, in some instances, the planned trajectory of the transitional motion is a smooth curve, but the actual motion of the end effector is a combination of multiple broken line segments that follow the curve, where the motion of each segment is calculated by interpolation. Interpolation of the pose of the end effector is similar, i.e. the pose of the end effector at each time in the actual motion is interpolated according to the pose function of the planned transitional motion of the end effector. The interpolation interval may be selected according to actual needs, and is not limited herein.
S305: and controlling a driving mechanism of the robot to act according to the interpolation result, so that the end effector moves according to the planning track and the planning posture of the transitional motion.
The entire planning, interpolation and execution process for smoothly transitioning two consecutive linear motions of the end effector using the transition motion is thus completed.
Alternatively, the first planned motion of the end effector of any of the foregoing embodiments may be a deceleration motion, and the inflection point is a deceleration start point of the first planned motion, and the intermediate point is a deceleration completion point of the first planned motion. The second planned motion of the end effector may be an acceleration motion, and the intermediate point is an acceleration start point of the second planned motion and the point of inflection is an acceleration completion point of the second planned motion. Still taking fig. 2 as an example, according to the original plan, the end effector should gradually decelerate to zero at AO segment and gradually accelerate to B segment until acceleration is completed. In other words, when the first planned motion and the second planned motion are selected from the two continuous motions originally planned by the end effector, the deceleration segment in the front CP motion and the acceleration segment in the rear CP motion may be selected as the first planned motion and the second planned motion, respectively, so as to replace the deceleration segment and the acceleration segment with the transition motion to connect other parts of the front CP motion and the rear CP motion. Therefore, repeated starting and stopping of the driving mechanism are avoided, and the service life of the robot is prolonged.
Referring to fig. 5, fig. 5 is a schematic flowchart illustrating a method for controlling a motion of a robot according to another embodiment of the present application. As shown, the method includes:
s401: and acquiring planning tracks and planning postures of a first planning movement and a second planning movement of the end effector, wherein the first planning movement is actually ended at the middle point at the out-turning point, and the second planning movement is started at the middle point and ended at the in-turning point.
S402: and determining a planning track and a planning posture of the transition motion of the end effector, wherein the transition motion starts from an inflection point and ends at an inflection point. Wherein the planned pose of the transitional motion of the end effector is determined from the planned pose of the first planned motion of the end effector, the planned pose at the intermediate point, and the planned pose of the second planned motion.
The method for determining the planning posture of the transitional motion in this embodiment may refer to the method in any of the foregoing embodiments, and is not described herein again. And the planned trajectory of the transitional motion of the end effector may be any trajectory planning method known to those skilled in the art.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an embodiment of a robot motion control system according to the present invention. The robot motion control system 500 includes a communication bus 501, a controller 502, and a memory 503. The controller 502 and the memory 503 are coupled by a communication bus 501.
The memory 503 stores program data, and the program data can be loaded by the controller 502 and executed by the robot motion control method in any of the embodiments described above. It will be appreciated that in other embodiments, the memory 503 may not be located in the same physical device as the controller 502, but rather the method of any of the above embodiments may be performed by incorporating the robot motion control system 500 into a network.
The robot motion control system 500 may be a control system built in the robot, or may be a control system on an external device connected to or communicating with the robot.
The functions described in the above embodiments, if implemented in software and sold or used as a separate product, may be stored in a device having a storage function, i.e., the present invention also provides a storage device storing a program. The program data in the storage device can be executed to implement the motion control method of the robot in the above-described embodiments, and the storage device includes, but is not limited to, a usb disk, an optical disk, a server, or a hard disk.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (18)
- A method for controlling the movement of a robot, comprising:acquiring planning tracks and planning postures of a first planning movement and a second planning movement of a robot end effector, wherein the first planning movement starts from an out point and ends at an intermediate point, and the second planning movement starts from the intermediate point and ends at an in point; anddetermining a planned pose of a transitional motion of the robot end effector according to the planned pose of the first planned motion, the planned pose at the intermediate point, and the planned pose of the second planned motion, wherein the transitional motion starts at the exit point and ends at the exit point.
- The motion control method of a robot according to claim 1, characterized in that:the duration of the first planned movement is the same as the duration of the second planned movement.
- The method of motion control of a robot of claim 2, wherein the step of determining a planned pose of the transitional motion of the robot end effector comprises:determining a pose rotation matrix for the transitional motion of the robotic end effector from a pose rotation matrix for the first planned motion, a pose rotation matrix at the intermediate point, and a pose rotation matrix for the second planned motion of the robotic end effector.
- The motion control method of a robot according to claim 3, wherein a posture rotation matrix of the transitional motion of the robot end effector is calculated by the following formula:Q(t)＝Qn(t)*Qo-1*Qc(t)wherein t is t 0-t 1;q (t) is a pose rotation matrix for each time of the transitional motion of the robotic end effector;qo is a posture rotation matrix of the robot end effector at a middle point;qc (t) is an attitude rotation matrix for each time of the first planned movement of the robotic end effector;qn (t) is an attitude rotation matrix for each time of the second planned movement of the robotic end effector; and isQ (t0) and Qc (t0) are pose rotation matrices of the robot end effector at the inflection point, Qc (t1) and Qn (t0) are equal to pose rotation matrices Qo of the robot end effector at the intermediate point, and Qn (t1) and Q (t1) are pose rotation matrices of the robot end effector at the inflection point.
- The method of controlling the movement of a robot according to claim 2, further comprising:determining a planned trajectory of the transitional motion of the robotic end effector from a planned trajectory of the first planned motion of the robotic end effector, a position of the intermediate point, and a planned trajectory of the second planned motion of the robotic end effector.
- The method of motion control of a robot of claim 5, wherein the planned trajectory of the transitional motion of the robot end effector is calculated by the formula:P(t)-Po＝Pc(t)-Po+Pn(t)-Powherein t is t 0-t 1;p (t) is the position of the planned trajectory of the transitional motion of the robot end effector corresponding to each moment;po is the position of the middle point;pc (t) is a position of the planned trajectory of the first planned motion of the robot end effector corresponding to each moment;pn (t) is the position of the planned track of the second planned motion of the robot end effector corresponding to each moment; and isP (t0) and Pc (t0) are the positions of the inflection points, Pc (t1) and Pn (t0) are equal to the position Po of the intermediate point, and Pn (t1) and P (t1) are the positions of the inflection points.
- The method of controlling the movement of a robot according to claim 5, further comprising:interpolating the position and the posture of each moment of the actual motion of the robot end effector according to the planned track and the planned posture of the transitional motion of the robot end effector;and controlling a driving mechanism of the robot end effector to act according to the interpolation result, so that the robot end effector moves according to the planning track and the planning posture of the transitional motion.
- The motion control method of a robot according to claim 1, characterized in that:the first planned movement is a deceleration movement, and the inflection point is a deceleration start point of the first planned movement, and the intermediate point is a deceleration completion point of the first planned movement; andthe second planned movement is an accelerated movement and the intermediate point is an accelerated starting point of the second planned movement and the entry point is an accelerated finishing point of the second planned movement.
- A robot control system comprising a processor, the processor being loadable with program instructions and executing a method of motion control of a robot, the method comprising:acquiring planning tracks and planning postures of a first planning movement and a second planning movement of a robot end effector, wherein the first planning movement starts from an out point and ends at an intermediate point, and the second planning movement starts from the intermediate point and ends at an in point; anddetermining a planned pose of a transitional motion of the robot end effector from the planned pose of the first planned motion, the planned pose at the intermediate point, and the planned pose of the second planned motion of the robot end effector, wherein the transitional motion starts at the inflection point and ends at the inflection point.
- The robot control system of claim 9, wherein:the duration of the first planned movement is the same as the duration of the second planned movement.
- The robotic control system of claim 10, wherein the step of determining a planned pose of the transitional motion of the robotic end effector comprises:determining a pose rotation matrix for the transitional motion of the robotic end effector from a pose rotation matrix for the first planned motion, a pose rotation matrix at the intermediate point, and a pose rotation matrix for the second planned motion of the robotic end effector.
- The robotic control system of claim 11, wherein a pose rotation matrix for the transitional motion of the robotic end effector is calculated by the formula:Q(t)＝Qn(t)*Qo-1*Qc(t)wherein t is t 0-t 1;q (t) is a pose rotation matrix for each time of the transitional motion of the robotic end effector;qo is a posture rotation matrix of the robot end effector at a middle point;qc (t) is an attitude rotation matrix for each time of the first planned movement of the robotic end effector;qn (t) is an attitude rotation matrix for each time of the second planned movement of the robotic end effector; and isQ (t0) and Qc (t0) are the pose rotation matrices of the robot end effector at the inflection point, Qc (t1) and Qn (t0) are equal to the pose rotation matrix Qo of the robot at the intermediate point, and Qn (t1) and Q (t1) are the pose rotation matrices of the robot at the inflection point.
- The robot control system according to claim 10, wherein the motion control method of the robot further comprises:determining a planned trajectory of the transitional motion of the robot from a planned trajectory of the first planned motion of the robot end effector, the position of the intermediate point, and a planned trajectory of the second planned motion of the robot end effector.
- The robotic control system of claim 13, wherein the planned trajectory of the transitional motion of the robotic end effector is calculated by the formula:P(t)-Po＝Pc(t)-Po+Pn(t)-Powherein t is t 0-t 1;p (t) is the position of the planned trajectory of the transitional motion of the robot end effector corresponding to each moment;po is the position of the middle point;pc (t) is a position of the planned trajectory of the first planned motion of the robot end effector corresponding to each moment;pn (t) is the position of the planned track of the second planned motion of the robot end effector corresponding to each moment; and isP (t0) and Pc (t0) are the positions of the inflection points, Pc (t1) and Pn (t0) are equal to the position Po of the intermediate point, and Pn (t1) and P (t1) are the positions of the inflection points.
- The robot control system according to claim 13, wherein the motion control method of the robot further comprises:interpolating the position and the posture of each moment of the actual motion of the robot end effector according to the planned track and the planned posture of the transitional motion of the robot end effector;and controlling a driving mechanism of the robot end effector to act according to the interpolation result, so that the robot end effector moves according to the planning track and the planning posture of the transitional motion.
- The robot control system of claim 9, wherein:the first planned movement is a deceleration movement, and the inflection point is a deceleration start point of the first planned movement, and the intermediate point is a deceleration completion point of the first planned movement; andthe second planned movement is an accelerated movement and the intermediate point is an accelerated starting point of the second planned movement and the entry point is an accelerated finishing point of the second planned movement.
- A method for controlling the movement of a robot, comprising:acquiring planning tracks and planning postures of a first planning movement and a second planning movement of a robot end effector, wherein the first planning movement starts from an out point and ends at an intermediate point, and the second planning movement starts from the intermediate point and ends at an in point;determining a planning track and a planning posture of transitional motion of the robot end effector, wherein the transitional motion starts from the inflection point and ends at the inflection point;wherein the step of determining a planned pose of the transitional motion of the robotic end effector comprises: determining a planned pose of a transitional motion of the robot end effector from the planned pose of the first planned motion, the planned pose at the intermediate point, and the planned pose of the second planned motion of the robot end effector.
- An apparatus having a memory function, characterized in that program instructions are stored, which can be loaded and executed to perform a method of motion control of a robotic end effector as claimed in claims 1-8 or as claimed in claim 17.
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| PCT/CN2018/114222 WO2020093254A1 (en) | 2018-11-06 | 2018-11-06 | Motion control method for robot, control system, and storage device |
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| CN117301044B (en) * | 2023-08-31 | 2024-07-19 | 北京纳通医用机器人科技有限公司 | Method, device, equipment and storage medium for controlling movement of end tool |
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