CN109551486B

CN109551486B - Method, device and system for processing motion parameters and storage medium

Info

Publication number: CN109551486B
Application number: CN201910057074.1A
Authority: CN
Inventors: 丁建伟
Original assignee: MGA Technology Shenzhen Co Ltd
Current assignee: MGA Technology Shenzhen Co Ltd
Priority date: 2019-01-21
Filing date: 2019-01-21
Publication date: 2022-05-10
Anticipated expiration: 2039-01-21
Also published as: CN109551486A

Abstract

The embodiment of the invention provides a method, a device and a system for processing motion parameters and a storage medium. The method comprises the following steps: acquiring a motion parameter sequence of a target joint; detecting whether a reversing parameter set exists in the motion parameter sequence or not, wherein each reversing parameter set comprises three adjacent motion parameters of time data for reversing the motion direction of the motion component; and if at least one commutation parameter set is detected, for each of the at least one commutation parameter set, inserting at least one commutation motion parameter in the commutation parameter set to obtain a new sequence of motion parameters, the at least one commutation motion parameter being indicative of a return gap for the moving component to pass through during commutation within a preset time. For the motion parameters for reversing the motion direction of the motion part, the reversing motion parameters are inserted into the motion parameters to compensate the return clearance, which is beneficial to ensuring the displacement accuracy of the motion part and ensuring that the robot reaches a set position at a set time and at a set speed.

Description

Method, device and system for processing motion parameters and storage medium

Technical Field

The present invention relates to the field of motion control technologies, and in particular, to a method, an apparatus, and a system for processing motion parameters, and a storage medium.

Background

In a motion control system based on a robot (e.g., a robot arm) or the like, a device to be controlled (e.g., a robot or the like) and a robot control device (e.g., an upper computer or the like) establish a connection relationship, and a user can control the robot to move through the robot control device.

The user edits a group of motion parameters, and the motion parameters can be used for controlling the motion action of the robot, for example, the robot grabs an object from a point A and then places the object to a point B, so that the object is transported.

A joint of the robot may have a "reverse" motion in one complete motion. The commutation action is described below in conjunction with fig. 1. Fig. 1 shows a schematic view of a robot 100 according to an example. The robot 100 includes a base 1, a large arm 2, a small arm 3, and the like, wherein the large arm 2 is driven by a motor 4 and a decelerator 5. When the robot 100 in fig. 1 grabs an object, the large arm 2 and the small arm 3 first move downward in the direction of S1 to grab the object, then lift upward in the direction of S2, and finally move to a position where the object is placed, and this process of lifting downward to upward in the downward direction may be referred to as a reversing process.

The above-described commutation process may have the following problems: due to the existence of a gap in the mechanical structure (a gap exists between gears of a speed reducer and the like), the gap (which may be called a return gap or a reverse gap) affects the precision of displacement of a moving part (such as a motor) during reverse movement, so that the robot cannot reach a set position at a set speed at a set time.

Disclosure of Invention

The present invention has been made in view of the above problems. The invention provides a method, a device and a system for processing motion parameters and a storage medium.

According to an aspect of the present invention, there is provided a method for processing motion parameters, including: acquiring a motion parameter sequence of a target joint; detecting whether a reversing parameter set exists in the motion parameter sequence or not, wherein each reversing parameter set comprises three adjacent motion parameters of time data for reversing the motion direction of the motion component; and if at least one commutation parameter set is detected, inserting at least one commutation motion parameter in the commutation parameter set for each of the at least one commutation parameter set to obtain a new motion parameter sequence, wherein the at least one commutation motion parameter is used for indicating that the moving component passes through a return gap during commutation within a preset time.

Illustratively, detecting whether a set of commutation parameters is present within the sequence of motion parameters comprises:

for any three pieces of time data in the motion parameter sequence, the first motion parameter (P1, V1, T1), the second motion parameter (P2, V2, T2) and the third motion parameter (P3, V3, T3) which are adjacent and are ordered from small to large according to the time data,

if the first case of P2-P1>0 and P3-P2<0 or the second case of P2-P1<0 and P3-P2>0 exists, determining that the three motion parameters belong to a set of commutation parameters;

and if the first condition and the second condition do not exist, determining that the three motion parameters do not belong to the reversing parameter set.

Illustratively, each of the at least one set of commutation parameters includes a first motion parameter (P1, V1, T1), a second motion parameter (P2, V2, T2) and a third motion parameter (P3, V3, T3) in descending order of time data, the interpolated commutation motion parameters being (P4, V4, T4),

if P2-P1>0 and P3-P2< 0:

P4-P2-360 °/encoder resolution;

v4 ═ a first preset speed;

t4 ═ T2+ first preset time;

if P2-P1<0 and P3-P2> 0:

p4 ═ P2+360 °/encoder resolution;

v4 is the second preset speed;

t4 ═ T2+ a second preset time;

p1, P2, P3, and P4 are position data, V1, V2, V3, and V4 are velocity data, and T1, T2, T3, and T4 are time data.

Illustratively, the first preset speed is equal to the second preset speed, and is negated.

Illustratively, the first preset time and the second preset time are equal.

Illustratively, the method further comprises: receiving one or more of the following instructions input by a user: a first speed instruction for indicating the magnitude of a first preset speed, a second speed instruction for indicating the magnitude of a second preset speed, a first time instruction for indicating the magnitude of a first preset time, and a second time instruction for indicating the magnitude of a second preset time; and determining one or more of the following information according to the instruction input by the user: the device comprises a first preset speed, a second preset speed, a first preset time and a second preset time.

Illustratively, acquiring the motion parameter sequence of the target joint includes: receiving a motion parameter sequence of the robot tail end input by a user; and converting the motion parameter sequence of the robot terminal into a motion parameter sequence of at least one joint, wherein the target joint is one of the at least one joint.

Illustratively, acquiring the motion parameter sequence of the target joint includes: a sequence of motion parameters of a target joint input by a user is received.

According to another aspect of the present invention, there is provided a motion parameter processing apparatus, including: the acquisition module is used for acquiring a motion parameter sequence of a target joint; the detection module is used for detecting whether a reversing parameter set exists in the motion parameter sequence, and each reversing parameter set comprises motion parameters adjacent to three pieces of time data for reversing the motion direction of the motion component; and an insertion module, configured to insert, for each of the at least one commutation parameter set, at least one commutation motion parameter in the commutation parameter set to obtain a new motion parameter sequence if the at least one commutation parameter set is detected, where the at least one commutation motion parameter is used to indicate that the moving component passes through a return gap during commutation within a preset time.

According to another aspect of the present invention, there is provided a system for processing a motion parameter, comprising a processor and a memory, wherein the memory stores computer program instructions, and the computer program instructions are executed by the processor to perform the method for processing a motion parameter.

According to another aspect of the present invention, there is provided a storage medium having stored thereon program instructions for executing the above-described method of processing a motion parameter when executed.

According to the motion parameter processing method, device and system and the storage medium, the reversing motion parameter is inserted into the motion parameter for reversing the motion direction of the motion component so as to compensate the return clearance. This is advantageous for ensuring the accuracy of the displacement of the moving part, and for ensuring that the robot reaches a set position at a set time and at a set speed.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail embodiments of the present invention with reference to the attached drawings. The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings, like reference numbers generally represent like parts or steps.

Figure 1 shows a schematic view of a robot according to one example;

FIG. 2 shows a schematic flow diagram of a method of processing a motion parameter according to one embodiment of the invention;

FIG. 3 shows a schematic diagram of a human-machine interface on a machine control device, according to one embodiment of the invention;

FIG. 4 shows a schematic diagram of a user editing PVT parameters for a single motor;

FIG. 5 shows a schematic diagram of a user editing PVT parameters of a robot;

FIG. 6 illustrates an exemplary flow of a method of processing motion parameters according to one embodiment of the invention;

FIG. 7 shows a schematic block diagram of a device for processing a motion parameter according to one embodiment of the present invention; and

FIG. 8 shows a schematic block diagram of a system for processing motion parameters according to one embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of embodiments of the invention and not all embodiments of the invention, with the understanding that the invention is not limited to the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention described herein without inventive step, shall fall within the scope of protection of the invention.

In order to solve the problem of poor displacement accuracy caused by a return clearance during commutation, the embodiment of the invention provides a motion parameter processing method. According to the method, in the initially acquired motion parameter sequence, commutation motion parameters are inserted at positions where commutation exists to compensate for the return gap. The inserted reversing motion parameters can enable the motion part to pass through the return clearance within preset time (the preset time can be set according to needs, for example, the preset time is set as short as possible), so that the displacement accuracy of the motion part is favorably ensured, and the robot can reach the set position at the set time and at the set speed. The motion parameter processing method according to the embodiment of the invention can be applied to the field of control of any robot or equipment adopting a working mode similar to that of the robot.

The motion parameter processing method according to the embodiment of the invention can be applied to a motion control system. The motion control system described herein may include a robotic control device and a device to be controlled. The robot control device may include, for example, an upper computer, a teach pendant, and the like. The device to be controlled may comprise, for example, a robot, a drive for driving the robot in motion, etc. Further, the motion control components described herein may include a drive and the motion components may include a motor.

The robots described herein may be robotic devices that automatically perform work. A robot may include a robot body, an end effector (or referred to as a tool). The body may include a plurality of joints, such as a base, a large arm, a small arm, a wrist, and the like. The end effector is, for example, a jaw/object holder that can be opened and closed, but also other operating tools. The end effector is controlled by the robot control device to move according to the corresponding route and complete the preset action. Specifically, for example, the end effector is controlled by the robot control device to move in three-dimensional space, and perform related actions such as grabbing, releasing or other actions at specified positions.

Taking a motor matched with a reducer as an example, the motor matched with the reducer is a main motion execution component of a mechanical arm (or called as a mechanical arm, a multi-axis robot, a multi-joint robot and the like), and the mechanical arm is mainly used for clamping a target object from an initial position to a target position according to a preset route, so that the mechanical arm is suitable for mechanical automation operation in various industrial fields.

The mechanical arm on the market mainly comprises a four-axis robot (with four joints), a six-axis robot (with six joints) and the like, wherein the four-axis robot and the six-axis robot each comprise a base, an arm and the like, and an end effector, the number of the joints determines the number of 'axes' of the robot, and each joint is driven by the rotation of a motor to realize the movement of the joint.

Hereinafter, a processing method of the motion parameter according to an embodiment of the present invention will be described with reference to fig. 2 to 6. FIG. 2 shows a schematic flow diagram of a method 200 of processing a motion parameter according to one embodiment of the invention. As shown in fig. 2, the method 200 for processing the motion parameters includes steps S210, S220, and S230.

In step S210, a motion parameter sequence of the target joint is acquired.

The motion parameter sequence described herein may comprise at least one motion parameter. In case the sequence of motion parameters comprises less than three motion parameters, no commutation can be understood to be present. In case the motion parameter sequence comprises at least three motion parameters, a commutation may be present.

Alternatively, the motion parameters of the end effector input by the user may be received, and the received motion parameters of the end effector may be converted into motion parameters of respective joints of the robot. Alternatively, the motion parameters of the joints of the robot input by the user may be directly received. That is, the user may input the motion parameters of the end effector, and the motion parameters may be converted into the motion parameters of each joint by the robot control device and/or the motion control unit, or may input the motion parameters of each joint of the robot.

Alternatively, the motion parameters in the motion parameter sequence acquired in step S210 may be the motion parameters initially edited by the user or further processed (e.g., interpolated) by the motion control system.

The target joint may be any joint of the robot. The return clearance compensation operation described herein, i.e., steps S210-S230, may be performed for any of the joints of the robot.

The content of the motion parameters may vary depending on the actual configuration of the moving part (e.g., motor). Illustratively, the motion parameters may include one or more of position data, velocity data, and time data. The position data may be coordinate data in a rectangular spatial coordinate system, or may be rotation angle or other data related to a position. In the case where the position data is coordinate data in a spatial rectangular coordinate system, the motion parameter may be referred to as an LVT parameter. In case the position data is a rotation angle, the motion parameters may be referred to as PVT parameters.

The description is mainly made herein with reference to PVT parameters as examples of motion parameters, and the PVT parameters may include a rotation angle (which may be referred to as P), a rotation speed (which may be referred to as V), and a rotation time (which may be referred to as T). FIG. 3 shows a schematic diagram of a human-machine interface on a machine control device according to one embodiment of the invention. To accomplish some action, the user may edit a set of PVT parameters in the athletic parameter list of the interactive interface, such as 3 PVT parameters A, B, C in the example shown in FIG. 3. The first PVT parameter may be input by the user or preset by the system, and may default to (0, 0, 0). The second and subsequent PVT parameters may be set by the user as desired.

In step S220, it is detected whether there are commutation parameter sets in the motion parameter sequence, each commutation parameter set including motion parameters adjacent to three pieces of time data for commutating the motion direction of the moving component. The moving part is a moving part corresponding to the target joint and can be used for driving the target joint to move.

For example, detecting whether a set of commutation parameters exists within the sequence of motion parameters (step S220) may comprise:

for any three pieces of time data in the motion parameter sequence, a first motion parameter (P1, V1, T1), a second motion parameter (P2, V2, T2) and a third motion parameter (P3, V3, T3) which are adjacent and are sorted from small to large according to the time data,

After the motion parameter sequence of the target joint is obtained, the motion parameters in the sequence can be checked to judge whether the reversing condition exists. For example, all the motion parameters in the motion parameter sequence may be combined into one or more sets respectively in the order of the time data, each set including three motion parameters adjacent to the time data. It is understood that in this context, different sets may contain a portion of the same motion parameters. For example, it is assumed that the motion parameter sequence of the target joint includes five motion parameters S1, S2, S3, S4, S5, which are arranged from small to large in terms of time data. The five motion parameters can be combined into three sets, wherein S1, S2 and S3 can form a first set, S2, S3 and S4 can form a second set, and S3, S4 and S5 can form a third set. The motion parameters in each set can be analyzed to determine whether a commutation condition exists.

Preferably, when the user edits the motion parameters or the machine control device receives the motion parameters, all the motion parameters are sequenced according to the sequence of the time data, so that the motion parameters can be directly traversed according to the sequenced sequence to judge whether the reversing condition exists.

For convenience of description, the following description will be made by taking as an example that each set includes three PVT parameters a (P1, V1, T1), B (P2, V2, T2), C (P3, V3, T3), which are adjacent in time, i.e., T1, T2, and T3 are adjacent in time.

For any one set, if two cases occur, namely, A- > B displacement is positive (i.e., P2-P1> 0) and B- > C displacement is negative (i.e., P3-P2< 0), or A- > B displacement is negative (i.e., P2-P1< 0) and B- > C displacement is positive (i.e., P3-P2> 0), then it can be determined that there is a commutation in the current set, i.e., the current set belongs to a commutation parameter set, and if the two cases do not exist, it can be determined that there is no commutation in the current set, i.e., the current set does not belong to a commutation parameter set.

Referring to fig. 3, the position data of the first PVT parameter a is 0, the position data of the second PVT parameter B is 90 degrees, and the position data of the third PVT parameter C returns to 0. From the above rules, it can be determined that between B, C there is a reversing motion of the moving part.

In step S230, if at least one commutation parameter set is detected, for each of the at least one commutation parameter set, at least one commutation motion parameter is inserted into the commutation parameter set to obtain a new motion parameter sequence, where the at least one commutation motion parameter is used to indicate that the moving component passes through a return gap during commutation within a preset time.

if P2-P1>0 and P3-P2< 0:

P4-P2-360 °/encoder resolution;

v4 ═ a first preset speed;

t4 ═ T2+ first preset time;

if P2-P1<0 and P3-P2> 0:

p4 ═ P2+360 °/encoder resolution;

v4 is the second preset speed;

t4 ═ T2+ a second preset time;

As described above, for any one set, if both A- > B displacement is positive (i.e., P2-P1> 0) and B- > C displacement is negative (i.e., P3-P2< 0), or A- > B displacement is negative (i.e., P2-P1< 0) and B- > C displacement is positive (i.e., P3-P2> 0), then it can be determined that there is a commutation for the current set, i.e., the current set belongs to a commutation parameter set. At this time, a PVT parameter D (P4, V4, T4) may be inserted between B and C. Let the PVT parameter list be (A, B, C) - > (A, B, D, C).

Illustratively, the number of interpolated commutation motion parameters in each commutation parameter set is one. For example, the time data of the commutation motion parameters may be located between the time data of the second motion parameter and the third motion parameter in the commutation parameter set, which are ordered from small to large in terms of time data, i.e., T2 < T4 < T3.

Illustratively, the algorithm for D may be as follows:

if the A- > B shift is positive (i.e., P2-P1> 0) and the B- > C shift is negative (i.e., P3-P2< 0), then:

P4-P2-360 °/encoder resolution;

v4 ═ a first preset speed;

t4 ═ T2+ first preset time;

if A- > B shift is negative (i.e., P2-P1< 0) and B- > C (i.e., P3-P2> 0) shift is positive:

p4 ═ P2+360 °/encoder resolution;

v4 is the second preset speed;

t4 ═ T2+ second preset time.

The meaning of the encoder resolution of the moving part is understood by a person skilled in the art and is not described in further detail herein. "360 °/encoder resolution" is understood to mean a displacement of the moving part in one micro step and also a displacement corresponding to the return gap. The distance between P2 and P4 corresponds to the return gap, and therefore, the P4 required to compensate for the return gap in the two opposite directions can be calculated from P2.

The first preset speed, the second preset speed, the first preset time and the second preset time can be set according to needs, and the invention does not limit the setting. For example, the first preset speed may be equal to the second preset speed, and inverted. Illustratively, the first preset time and the second preset time may be equal. The two return gaps are approximately coincident in displacement for the two return gaps in opposite directions, and therefore, opposite speeds and equal times may be selected to pass through the return gaps in opposite directions. The scheme is simple to implement and easy to control.

The first preset time and the second preset time may be expressed by micro-step values. Preferably, the first preset time and the second preset time may be set to be small so that the moving part can pass through the return gap as quickly as possible. For example, the first preset time may be less than a first time threshold, and the second preset time may be less than a second time threshold. The size of the first time threshold and the second time threshold can be set according to needs.

For example and without limitation, the preset speed (including the first preset speed and the second preset speed) and the preset time (including the first preset time and the second preset time) may be data obtained by testing in advance, which may be embedded in software code, and may be modified by a debugger without permission of an ordinary user. The function of the preset speed and the preset time is to move the moving part through the return gap at a desired speed and time (set as fast as possible and short as possible) so that the robot or the target joint of the robot can reach the set position at the set time and at the set speed.

The above-described backlash compensation operation, i.e., steps S210 to S230, may be performed by a robot control device (e.g., an upper computer) or a motion control unit (e.g., a driver). The robotic control devices described herein may interact with a user, receiving user-entered motion parameters and other instructions.

For example, the above-mentioned return clearance compensation function may be shown as an option on a human-machine interface of the robot control device, and a user may select whether to adopt the function according to needs. If the user needs to use the backhaul clearance compensation function, the user can select the option of the function and input the preset speed and the preset time (or adopt a default threshold). Referring to fig. 3, "LVT compensation" is shown as a control for selecting a return lash compensation function.

According to the motion parameter processing method of the embodiment of the invention, as for the motion parameter for reversing the motion direction of the motion component, the reversing motion parameter is inserted to compensate the return clearance. The method can reduce the influence of the return clearance on the motion control, and further can realize the following technical effects:

1: the precision is ensured, so that the displacement precision of the moving part can be controlled to be plus or minus 0.001 degrees.

2: and ensuring time, and reaching the target position within the specified time. Due to the existence of the return clearance, the time for the moving part to reach the target position cannot be guaranteed. The addition of the reversing motion parameters makes it possible for the moving part to complete the return gap in a shorter time without affecting the total time.

3: and the coordination is ensured, and the robot can be more coordinated when the robot continuously changes the direction and operates based on the motion parameters.

According to an embodiment of the present invention, the method 100 may further include: receiving one or more of the following instructions input by a user: a first speed instruction for indicating the magnitude of a first preset speed, a second speed instruction for indicating the magnitude of a second preset speed, a first time instruction for indicating the magnitude of a first preset time, and a second time instruction for indicating the magnitude of a second preset time; and determining one or more of the following information according to the instruction input by the user: the device comprises a first preset speed, a second preset speed, a first preset time and a second preset time.

As described above, the user who sets the preset speed and the preset time may alternatively be a commissioning person. Thus, the user in this embodiment may be a software debugger of the motion control system. Of course, the user who sets the preset speed and the preset time may be other persons as needed, for example, a general user who controls the robot using the motion control system.

When the first preset speed is equal to the second preset speed to be negated, the first speed command and the second speed command may be the same command, that is, the user only needs to input or select one speed data on the interactive interface, and can determine the first preset speed and the second preset speed based on the speed data, without respectively inputting two speed data. Under the condition that the first preset time and the second preset time are equal, the first time instruction and the second time instruction can be the same instruction, namely, a user only needs to input or select one time data on the interactive interface, and then the first preset time and the second preset time can be determined based on the time data without respectively inputting two time data.

Referring to FIG. 3, two boxes, "time" and "speed" are shown on the top right of the interactive interface. The time frame includes' reverse gap compensation micro-step value78”，The speed box contains the' reverse gap speed (microsecond/micro-step)10". The values above the horizontal line in the two regions may be input by the user, and based on the data input by the user in fig. 3, it may be determined that the first preset time and the second preset time are 78 microsteps (i.e., times corresponding to 78 microsteps), the first preset speed is 10 microseconds/microstep, and the second preset speed is-10 microseconds/microstep.

In the case where the first preset speed and the second preset speed are independent of each other, the user may input the first speed command and the second speed command, respectively, for example, input or select two speed data, respectively, to determine the first preset speed and the second preset speed. In the case that the first preset time and the second preset time are independent from each other, the user may input the first time instruction and the second time instruction, for example, input or select two time data, respectively, to determine the first preset time and the second preset time.

Of course, the first preset speed and the second preset speed may have other suitable relationships besides negation, in which case, the user may input the same speed instruction to set the first preset speed and the second preset speed, or may input two speed instructions to set the first preset speed and the second preset speed respectively. Similarly, the first preset time and the second preset time may have other suitable relationships besides being equal, in which case, the user may input the same time instruction to set the first preset time and the second preset time, or may input two time instructions to set the first preset time and the second preset time respectively.

According to the embodiment of the present invention, acquiring the motion parameter sequence of the target joint (step S210) may include: receiving a motion parameter sequence of the robot tail end input by a user; and converting the motion parameter sequence of the robot terminal into a motion parameter sequence of at least one joint, wherein the target joint is one of the at least one joint.

According to the embodiment of the present invention, acquiring the motion parameter sequence of the target joint (step S210) may include: a sequence of motion parameters of a target joint input by a user is received.

As described above, the user may input the motion parameters of the end effector (i.e., the robot end) and then the motion parameters are converted into the motion parameters of each joint by the robot control device and/or the motion control means, or may input the motion parameters of each joint of the robot. Therefore, the user has a larger degree of freedom when inputting the motion parameters, and the robot control device (such as an upper computer) and/or the motion control component (such as a driving controller) can convert the motion parameters input by the user when needed, so that the subsequent processing such as return clearance compensation can be conveniently carried out.

Figure 4 shows a schematic diagram of a user editing PVT parameters for a single motor. Figure 5 shows a schematic diagram of a user editing PVT parameters of a robot. If the user controls the motor directly through the motor driver, the programmed PVT parameters are as shown in figure 4. If a user controls the robot, the robot generally includes multiple axes, and the PVT parameters are written as shown in fig. 5, at this time, a plurality of P (each P value exists for the base, the upper arm, the lower arm, the wrist, the manipulator (here, an end effector), and the like) exist, and after the user edits the PVT parameter list of the robot, the PVT parameters may be converted into PVT parameters of each axis, and then whether or not there is a commutation is checked with respect to the PVT parameters of each axis.

Fig. 6 shows an exemplary flow of a method of processing a motion parameter according to an embodiment of the present invention. As shown in fig. 6, first, a user may edit PVT parameters via a human-machine interface of the robot control device (step S610). Subsequently, the robot controlling device may check whether there is a case of commutation in the PVT parameters edited by the user (step S620). If there is a commutation situation, a PVT parameter can be inserted at the commutation (i.e. the set of commutation parameters comprising three PVT parameters) which can set position, speed and time according to the rules described above. After checking, the PVT parameters have been inserted at all positions of the commutation, of course, if there is no commutation for the PVT parameters edited by the user, then there may be no need to insert commutation motion parameters. In summary, after the above operations, a new motion parameter sequence can be finally obtained, and the motion parameter sequence can be sent to the driver (step S640) to drive the motor to operate by using the motion parameter sequence. Step S640 may be performed in real time, that is, after the commutation is checked for a part of the PVT parameters and the commutation motion parameters are inserted as needed, a new set of PVT parameters corresponding to the part of the PVT parameters is sent to the driver in real time. Step S640 may also send the complete new PVT parameter sequence to the driver after obtaining it. The driving controller can resolve the received PVT parameter sequence into a driving parameter of the motor, and the motor is driven to move.

Although the description herein is provided with reference to the insertion of a commutation motion parameter, this is not a limitation of the present invention. For example, two or more commutation motion parameters may be inserted in each set of commutation parameters, all of which are inserted such that the moving part passes through the return gap at commutation within a preset time.

According to another aspect of the present invention, a motion parameter processing device is provided. Fig. 7 shows a schematic block diagram of a device 700 for processing a motion parameter according to an embodiment of the invention.

As shown in fig. 7, the apparatus 700 for processing motion parameters according to the embodiment of the present invention includes an obtaining module 710, a detecting module 720, and an inserting module 730. The various modules may perform the various steps/functions of the method of processing motion parameters described above in connection with fig. 2-6, respectively. Only the main functions of the components of the motion parameter processing device 700 will be described below, and details that have been described above will be omitted.

The acquisition module 710 is configured to acquire a motion parameter sequence of a target joint.

The detecting module 720 is configured to detect whether there are commutation parameter sets in the motion parameter sequence, where each commutation parameter set includes motion parameters adjacent to three pieces of time data for commutating the motion direction of the moving component.

The inserting module 730 is configured to insert, for each of the at least one commutation parameter sets, at least one commutation motion parameter in the commutation parameter set to obtain a new motion parameter sequence, if the at least one commutation parameter set is detected.

FIG. 8 shows a schematic block diagram of a system 800 for processing athletic parameters, according to one embodiment of the invention. The system 800 for processing athletic parameters includes a storage device (i.e., memory) 810 and a processor 820.

The storage 810 stores computer program instructions for implementing the corresponding steps in the method of processing the motion parameters according to an embodiment of the present invention.

The processor 820 is used for executing the computer program instructions stored in the storage device 810 to execute the corresponding steps of the processing method of the motion parameters according to the embodiment of the invention.

In one embodiment, the computer program instructions, when executed by the processor 810, are for performing the steps of: acquiring a motion parameter sequence of a target joint; detecting whether a reversing parameter set exists in the motion parameter sequence or not, wherein each reversing parameter set comprises three adjacent motion parameters of time data for reversing the motion direction of the motion component; and if at least one commutation parameter set is detected, inserting at least one commutation motion parameter in the commutation parameter set for each of the at least one commutation parameter set to obtain a new motion parameter sequence, wherein the at least one commutation motion parameter is used for indicating that the moving component passes through a return gap during commutation within a preset time.

For example, the motion parameter processing system described herein may be the same system as the motion control system described above.

Furthermore, according to still another aspect of the present invention, there is also provided a storage medium on which program instructions are stored, which when executed by a computer or a processor cause the computer or the processor to execute the respective steps of the above-described processing method of the motion parameter of the embodiment of the present invention. The storage medium may include, for example, a storage component of a tablet computer, a hard disk of a personal computer, Read Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM), portable compact disc read only memory (CD-ROM), USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

A person skilled in the art can understand specific implementation schemes of the processing apparatus, the system and the storage medium for the motion parameters by reading the above description related to the processing method for the motion parameters, and details are not described herein for brevity.

Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the foregoing illustrative embodiments are merely exemplary and are not intended to limit the scope of the invention thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as set forth in the appended claims.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present invention should not be construed to reflect the intent: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

Various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some of the modules in a motion parameter processing apparatus according to embodiments of the present invention. The present invention may also be embodied as apparatus programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

The above description is only for the specific embodiment of the present invention or the description thereof, and the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A motion parameter processing method comprises the following steps:

acquiring a motion parameter sequence of a target joint;

detecting whether a reversing parameter set exists in the motion parameter sequence or not, wherein each reversing parameter set comprises three adjacent motion parameters of time data for reversing the motion direction of the motion component; and

if at least one reversing parameter set is detected, inserting at least one reversing motion parameter in the reversing parameter set for each of the at least one reversing parameter set to obtain a new motion parameter sequence, wherein the at least one reversing motion parameter is used for indicating that the motion component passes through a return gap during reversing within a preset time;

the motion parameters include position data, velocity data, and time data;

wherein each of the at least one set of commutation parameters comprises a first motion parameter (P1, V1, T1), a second motion parameter (P2, V2, T2) and a third motion parameter (P3, V3, T3) in chronological data, the interpolated commutation motion parameters are (P4, V4, T4),

if P2-P1>0 and P3-P2< 0:

P4-P2-360 °/encoder resolution;

v4 ═ a first preset speed;

t4 ═ T2+ first preset time;

if P2-P1<0 and P3-P2> 0:

p4 ═ P2+360 °/encoder resolution;

v4 is the second preset speed;

t4 ═ T2+ a second preset time;

2. The method of claim 1, wherein said detecting whether a set of commutation parameters is present within the sequence of motion parameters comprises:

for any three pieces of time data in the motion parameter sequence, a first motion parameter (P1, V1, T1), a second motion parameter (P2, V2, T2) and a third motion parameter (P3, V3, T3) which are adjacent and are ordered from small to large according to the time data,

if the first case of P2-P1>0 and P3-P2<0 exists or the second case of P2-P1<0 and P3-P2>0 exists, determining that the three motion parameters belong to a set of commutation parameters;

3. The method of claim 1, wherein the first preset speed is equal to the second preset speed.

4. The method of claim 1, wherein the first preset time and the second preset time are equal.

5. The method of claim 1, wherein the method further comprises:

receiving one or more of the following instructions input by a user: a first speed instruction for indicating the magnitude of the first preset speed, a second speed instruction for indicating the magnitude of the second preset speed, a first time instruction for indicating the magnitude of the first preset time, and a second time instruction for indicating the magnitude of the second preset time; and

determining one or more of the following information according to the instruction input by the user: the first preset speed, the second preset speed, the first preset time and the second preset time.

6. The method of claim 1, wherein the acquiring the sequence of motion parameters of the target joint comprises:

receiving a motion parameter sequence of the robot tail end input by a user; and

and converting the motion parameter sequence of the robot terminal into a motion parameter sequence of at least one joint, wherein the target joint is one of the at least one joint.

7. The method of claim 1, wherein the acquiring the sequence of motion parameters of the target joint comprises:

receiving a sequence of motion parameters of the target joint input by a user.

8. An apparatus for processing a motion parameter, comprising:

the acquisition module is used for acquiring a motion parameter sequence of the target joint;

the detection module is used for detecting whether a reversing parameter set exists in the motion parameter sequence or not, wherein each reversing parameter set comprises motion parameters adjacent to three pieces of time data for reversing the motion direction of the motion component; and

the device comprises an insertion module, a switching-in module and a switching-out module, wherein the insertion module is used for inserting at least one switching-in motion parameter into each of at least one switching-in parameter set to obtain a new motion parameter sequence if the at least one switching-in parameter set is detected, and the at least one switching-in motion parameter is used for indicating that the motion component passes through a return gap during switching-in within a preset time;

the motion parameters include position data, velocity data, and time data;

if P2-P1>0 and P3-P2< 0:

P4-P2-360 °/encoder resolution;

v4 ═ a first preset speed;

t4 ═ T2+ first preset time;

if P2-P1<0 and P3-P2> 0:

p4 ═ P2+360 °/encoder resolution;

v4 is the second preset speed;

t4 ═ T2+ a second preset time;

9. A system for processing athletic parameters, comprising a processor and a memory, wherein the memory has stored therein computer program instructions for execution by the processor to perform the method of processing athletic parameters of any of claims 1-7.

10. A storage medium on which are stored program instructions for performing, when executed, a method of processing a kinetic parameter as claimed in any one of claims 1 to 7.