CN110253565A - Control parts of motion, motion control method, robot and kinetic control system - Google Patents

Abstract

The embodiment of the present invention provides control parts of motion, motion control method, robot and kinetic control system.Control parts of motion is for controlling moving component movement, control parts of motion includes control unit interconnected and controls portion, control unit is used for the reception in response to triggering command, wavetable data is exported to controling portion, wherein, wavetable data is by carrying out resolving acquisition to the kinematic parameter sequence for implementing current kinetic for controlling moving component；Control portion for based on wavetable data drive motion components implementation current kinetic；Wherein, control unit is also used to when moving component completes current kinetic, the feedback information for being used to indicate current kinetic completion is exported to premise equipment or component, to start next control task and/or the current control task completion of prompt user by premise equipment or component, wherein, control task is to implement primary moving for task about any moving component of control.Help to promote user experience, helps to improve motion control synchronism in any case.

Description

Control parts of motion, motion control method, robot and kinetic control system

Technical field

The present invention relates to robotic technology field, relate more specifically to a kind of control parts of motion, a kind of motion control side Method, a kind of robot and a kind of kinetic control system.

Background technique

Currently, existing control parts of motion control moving component movement after, can't be to other equipment or component (such as control equipment) makes any feedback, causes other equipment or component that can not know that control parts of motion controls moving component The performance for implementing current kinetic, is easy to cause in control process and lacks synchronism, execution efficiency is low, is furthermore also easy to make It is poor at user experience.

Summary of the invention

The present invention is proposed in view of the above problem.The present invention provides a kind of control parts of motion, a kind of movements to control Method, a kind of robot and a kind of kinetic control system processed.

According to an aspect of the present invention, a kind of control parts of motion is provided, control parts of motion is for controlling moving component Movement, control parts of motion include control unit interconnected and control portion, and control unit is used for the reception in response to triggering command, Wavetable data is exported to controling portion, wherein wavetable data passes through the movement to current kinetic is implemented for controlling moving component Argument sequence carries out resolving acquisition；Control portion for based on wavetable data drive motion components implementation current kinetic；Wherein, it controls Portion is also used to export the feedback information for being used to indicate current kinetic completion to predetermined when moving component completes current kinetic and set Standby or component, to start next control task and/or the current control task completion of prompt user by premise equipment or component, In, control task is to implement primary moving for task about any moving component of control.

Illustratively, control unit is also used to automatic control control equipment and receives triggering command.

Illustratively, premise equipment or component are control equipment.

Illustratively, control parts of motion further include: trigger unit is connect with control unit, for being based on user's operation to control Portion processed sends triggering command.

Illustratively, premise equipment or component are trigger units.

Illustratively, premise equipment or component are another control parts of motion for executing next control task.

Illustratively, control unit includes: the first storage unit, for prestoring wavetable data；Control unit be specifically used in response to The reception of triggering command exports the wavetable data that the first storage unit prestores to controling portion.

Illustratively, the first storage unit includes the first buffer and first memory, and the first buffer is for caching wave table Data；First memory is connect with the first buffer, for being cached in the first buffer of storage when the first buffer writes full All data are so that the first buffer empties.

Illustratively, control unit includes: data reception portion, for receiving kinematic parameter sequence；Second storage unit, with data Receiving unit connection, for storing kinematic parameter sequence；And solving unit, it is connect with the second storage unit, for being stored from second Portion reads kinematic parameter sequence, and resolves to kinematic parameter sequence, to obtain wavetable data.

Illustratively, the second storage unit includes the second buffer, and the second buffer is used for buffered motion argument sequence, data Receiving unit is specifically used for the reception in response to triggering command, receives kinematic parameter sequence.

Illustratively, the second storage unit includes second memory, and for storing kinematic parameter sequence, second memory is forever Long property memory, solving unit is specifically used for the reception in response to triggering command, to the kinematic parameter prestored in the second storage unit Sequence is resolved, to obtain wavetable data.

Illustratively, the portion of controling includes: waveform generating unit, is connect with control unit, is corresponded to for being generated based on wavetable data Wave data；And driving portion, it is connect with waveform generating unit, for implementing current fortune based on Wave data drive motion components It is dynamic.

It is according to an embodiment of the present invention in another aspect, additionally provide a kind of motion control method, be applied to motion control portion Part, control parts of motion include control unit interconnected and control portion, which is characterized in that motion control method includes: to utilize Control unit exports wavetable data to controling portion in response to the reception of triggering command, wherein wavetable data passes through to for controlling The kinematic parameter sequence that moving component implements current kinetic carries out resolving acquisition；Wavetable data driving movement is based on using the portion of controling Component implements current kinetic；Using control unit when moving component completes current kinetic, current kinetic completion will be used to indicate Feedback information is exported to premise equipment or component, to be completed by premise equipment or the current control task of component prompt user and/or Start next control task, wherein control task is to implement primary moving for task about any moving component of control.

Illustratively, in response to the reception of triggering command, wavetable data is exported to before controling portion using control unit, Motion control method further include: receive triggering command using control unit automatic control control equipment.

Illustratively, premise equipment or component are control equipment.

Illustratively, control parts of motion further includes the trigger unit connecting with control unit, in utilization control unit in response to touching The reception to send instructions exports wavetable data to before controling portion, motion control method further include: is based on user using trigger unit It operates to control unit and sends triggering command.

Illustratively, premise equipment or component are trigger units.

Illustratively, premise equipment or component are another control parts of motion for executing next control task.

Illustratively, control unit includes the first storage unit for prestoring wavetable data, using control unit in response to triggering The reception of instruction, it includes: reception using control unit in response to triggering command that wavetable data, which is exported to the portion of controling, and first is deposited The wavetable data that storage portion prestores is exported to controling portion.

Illustratively, the first storage unit includes the first buffer and first memory interconnected, is utilizing control unit In response to the reception of triggering command, wavetable data is exported to before controling portion, motion control method further include: slow using first Rush device caching wavetable data；Using first memory when the first buffer writes full, what is cached in the first buffer of storage is all Data are so that the first buffer empties.

Illustratively, control unit includes sequentially connected data reception portion, the second storage unit, solving unit, is utilizing control Portion processed exports wavetable data to before controling portion, motion control method in response to the reception of triggering command further include: utilizes number Kinematic parameter sequence is received according to receiving unit；Kinematic parameter sequence is stored using the second storage unit；And using solving unit from the Two storage units read kinematic parameter sequence, and resolve to kinematic parameter sequence, to obtain wavetable data.

Illustratively, the second storage unit includes the second buffer, and the second buffer is used for buffered motion argument sequence, is utilized It includes: the reception using data reception portion in response to triggering command that data reception portion, which receives kinematic parameter sequence, receives movement ginseng Number Sequence.

Illustratively, the second storage unit includes second memory, and for storing kinematic parameter sequence, second memory is forever Long property memory, resolves kinematic parameter sequence using solving unit, includes: to utilize solving unit to obtain wavetable data In response to the reception of triggering command, the kinematic parameter sequence prestored in the second storage unit is resolved, to obtain wavetable data.

Illustratively, the portion of controling includes waveform generating unit interconnected and driving portion, is based on wave table number using the portion of controling Implementing current kinetic according to drive motion components includes: to be based on wavetable data using waveform generating unit to generate corresponding Wave data； And Wave data drive motion components are based on using driving portion and implement current kinetic.

According to another aspect of an embodiment of the present invention, a kind of robot is additionally provided, the robot includes above-mentioned fortune Dynamic control unit.

Another aspect according to an embodiment of the present invention additionally provides a kind of kinetic control system, the kinetic control system Including control equipment and above-mentioned control parts of motion, the control parts of motion is used to receive movement ginseng from the control equipment Number Sequence.

Control parts of motion, motion control method, robot and kinetic control system according to an embodiment of the present invention, movement Control unit in control unit can complete the information of current kinetic with feedback control moving component, receive the predetermined of feedback information Equipment or component (such as control equipment or another control parts of motion) can be based on feedback information, continue to execute next control and appoint Business or the current control task of prompt user are completed, and facilitate to promote user experience in this way, and facilitate in any case The synchronism for improving motion control, reduces the waiting time of motion control.

The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention, And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can It is clearer and more comprehensible, the followings are specific embodiments of the present invention.

Detailed description of the invention

The embodiment of the present invention is described in more detail in conjunction with the accompanying drawings, the above and other purposes of the present invention, Feature and advantage will be apparent.Attached drawing is used to provide to further understand the embodiment of the present invention, and constitutes explanation A part of book, is used to explain the present invention together with the embodiment of the present invention, is not construed as limiting the invention.In the accompanying drawings, Identical reference label typically represents same parts or step.

Fig. 1 shows the schematic block diagram of the kinetic control system of the prior art；

Fig. 2 shows the schematic block diagrams of control parts of motion according to an embodiment of the invention；

Fig. 3 shows the schematic block diagram of control parts of motion in accordance with another embodiment of the present invention；

Fig. 4 shows the schematic flow chart of motion control method according to an embodiment of the invention；

Fig. 5 shows the schematic block diagram of kinetic control system according to an embodiment of the invention.

Specific embodiment

In order to enable the object, technical solutions and advantages of the present invention become apparent, root is described in detail below with reference to accompanying drawings According to example embodiments of the present invention.Obviously, described embodiment is only a part of the embodiments of the present invention, rather than this hair Bright whole embodiments, it should be appreciated that the present invention is not limited by example embodiment described herein.Based on described in the present invention The embodiment of the present invention, those skilled in the art's obtained all other embodiment in the case where not making the creative labor It should all fall under the scope of the present invention.

Kinetic control system described herein may include control equipment and control parts of motion.Control equipment be for Control parts of motion communication, control control parts of motion realize its equipment to the control function of moving component.Motion control portion Part is the equipment for controlling moving component movement.

Control parts of motion is to realize the core component of motion control, for example the operation of robot just needs to control by movement The moving component of component controls robot processed drives robot motion.Control parts of motion described herein can be uniaxial drive Control various types of driving controllers such as device, multiaxis driving controller.Moving component described herein can be only motor, be also possible to electricity Machine combination retarder can also be motor combination lead screw etc..

Control equipment described herein, which can be, any suitable has data-handling capacity and/or instruction execution capability Equipment is calculated, can be realized using such as computer, mobile terminal (such as mobile phone, tablet computer).For example, control equipment It can be host computer, teaching machine etc..Illustratively, control equipment described herein can provide a user control by display Interface, i.e. human-computer interaction interface, user can use control interface realization and manage and control to control parts of motion.This Outside, illustratively, control equipment described herein is also equipped with control software, for realizing calculation relevant to control interface Method function.

Robot described herein can be the automatic installations for executing work.Robot may include robot sheet Body, end effector (or being tool).Ontology may include multiple joints, such as pedestal, large arm, forearm, wrist etc..It holds end Row device is, for example, the clamping jaw that can a be opened and closed/object clamping part, is also possible to other operational instrument.End effector is by controlling Equipment control moves according to respective routes and completes scheduled movement.It is specific for example, the controlled control equipment of end effector manipulation, It realizes and is moved in three-dimensional space, and execute relevant action, such as crawl, release or other movements in specified position. Robot described herein can be the robot of the various configurations such as four axis robots, H2 type plane door frame robot.

Control parts of motion, motion control method and kinetic control system according to an embodiment of the present invention are not limited to pair The control of robot.For example, control parts of motion can be used for controlling and drive motion components (such as motor etc.), and movement portion Part both can be on robot product, can also be on non-robot product.For example, the transmission belt on assembly line is with perhaps What more motors realizations controled, control parts of motion may be implemented to control this kind of motor.In short, according to an embodiment of the present invention Control parts of motion, motion control method and kinetic control system can be applied to any robot or other with moving component Equipment control field.

Fig. 1 shows the schematic block diagram of the kinetic control system 100 of the prior art.As shown in Figure 1, kinetic control system 100 include control equipment 110, controller local area network's (Controller Area Network, CAN) data line 120 and use In the control parts of motion 130 of control moving component 140.Control parts of motion 130 includes control unit 131, waveform generating unit 132, driving portion 133.Kinetic control system 100 may include one or more control parts of motion 130.Each motion control portion Part 130 can be used for controlling one or more moving components 140 and move.It may be noted that Fig. 1 is only example, " movement shown in FIG. 1 Component 1 " and " moving component N " are only used for distinguishing moving component corresponding to different motion control unit, and do not include number Information.Such as the number of moving component 1 can be one or more, the number of moving component N is also possible to one or more.

The control equipment 110 can be teaching machine, can also be the computer for being equipped with upper computer software, can also be peace Mobile terminal etc. equipped with APP allows user to configure kinematic parameter, control by control equipment 110 to realize human-computer interaction The operating status of moving component processed checks curve movement etc..

The CAN data line 120 realizes the communication between control equipment 110 and control parts of motion 130, and CAN bus is A kind of STD bus, is widely used in the fields such as automotive electronics, Industry Control, motion control, and CAN bus data have fixed Format, CAN data line 120 can be twisted pair or coaxial line etc..

The control parts of motion 130 is used to resolve the kinematic parameter that control equipment 110 is sent, and obtains reality Motor control data (generally PWM wave), by adjusting the period of PWM wave and duty ratio etc. adjust moving component 140 fortune Row state.Control parts of motion 130 includes control unit 131, waveform generating unit 132 and driving portion 133.

Control unit 131 resolves kinematic parameter for corresponding wavetable data for resolving to kinematic parameter.

Waveform generating unit 132 is a kind of PWM waveform generator, such as is realized by field programmable gate array (FPGA) chip PWM waveform generator.The wavetable data that waveform generating unit 132 can be generated according to control unit 131 generates corresponding PWM waveform Data.

Control unit 131 and waveform generating unit 132 be also possible to a component, such as can be by a piece of ARM kernel that is embedded with Fpga chip realizes, which not only may be implemented the function of control unit 131, simultaneously but also the function of waveform generating unit 132 may be implemented Energy.

Driving portion 133 is the driving unit of moving component 140, the PWM wave figurate number that can be generated according to waveform generating unit 132 It is moved according to drive motion components 140.

After user configures sports-like parameter by control equipment 110, movement control can be sent to by CAN data line 120 In component 130 processed.Control unit 131 in control parts of motion 130 resolves the kinematic parameter received for wavetable data, waveform Generating unit 132 then generates one group of PWM wave graphic data according to the wavetable data that resolving obtains, and driving portion 133 is then according to PWM waveform Data-driven moving component 140 moves.

Moving component 140 has certain carrying load ability.Such as in robot, usually pacify on the output shaft of motor Fill retarder, then on the output shaft of retarder mounting robot arm configuration, moving component 140 includes the motor and subtracting Fast device.The operating of motor drives retarder operating, and then the movement of the arm configuration with mobile robot.The bringing onto load of moving component 140 Ability is specifically driven the control in portion 133.The driving current that driving portion 133 generates is of different sizes, band of so moving component 140 Load capacity is different.

Above-mentioned kinetic control system 100 can be used for controlling one or more robots.As shown in Figure 1, the motion control System 100 includes multiple control parts of motion 130.Each control parts of motion 130 is for controlling one or more moving components 140.In one example, each control parts of motion 130 controls multiple moving components 140, and all control parts of motion The number of 130 moving components 140 controlled is identical.These control parts of motion 130 can be set in one or more machines On people, correspondingly to control the moving component 140 being arranged in these robots.Each moving component 140 can drive robot A joint.Such as a four axes motion control unit can be set in a four axis robots, to drive the four axis machine Device people.There are four joints for four axis robots tool, respectively correspond a moving component 140.The four axis machine man-hour needs four A moving component 140 cooperates under the control of the four axes motion control unit, to drive four axis robot motion jointly. It in one example, include multiple four axes motion control units in kinetic control system 100.

For above-mentioned kinetic control system 100, usual control parts of motion 130 controls the implementation of moving component 140 and works as Preceding movement can't issue feedback information to other equipment or component (such as control equipment) after implementing to complete current kinetic. In this way, causing other equipment or component that can not know that control parts of motion control moving component implements the completion feelings of current kinetic Condition is easy to cause in control process and lacks synchronism, and execution efficiency is low, furthermore also be easy to cause user experience poor.

In order at least be partially solved the above problem, the embodiment of the present invention provides a kind of control parts of motion.Fig. 2 shows The schematic block diagram of control parts of motion 200 according to an embodiment of the invention.The control parts of motion 200 is for controlling Moving component movement.Control parts of motion 200 can control one or more moving component movements.It is clear in order to describe, it can be with Control parts of motion 200 is known as the first control parts of motion, the implementation current kinetic that control parts of motion 200 is controlled Moving component is known as the first moving component.

As shown in Fig. 2, the control parts of motion 200 includes control unit 210 interconnected and controls portion 220, it is described Control unit 210 is used for the reception in response to triggering command, and wavetable data is exported to described and controls portion 220, wherein the wave table Data are by carrying out resolving acquisition to the kinematic parameter sequence for implementing current kinetic for controlling moving component；It is described to control portion 220 for implementing the current kinetic based on the wavetable data drive motion components；Wherein, the control unit 210 is also used to When the moving component completes the current kinetic, the feedback information that the current kinetic is completed will be used to indicate and exported to pre- Locking equipment or component, to start next control task and/or the current control task completion of prompt user by premise equipment or component, Wherein, control task is to implement primary moving for task about any moving component of control.

Control unit 210 can have the resolving function similar with above-described control unit 131.In addition, control unit 210 is also It can receive triggering command, and wavetable data exported based on triggering command.The content of triggering command and its source can refer to down Text description.In addition, control unit 210 can also export the feedback information for being used to indicate current kinetic completion.The content of feedback information And its outbound course can be referred to and is described below.Optionally, control unit 210 can also include the storage for prestoring wavetable data The additional components such as portion.

According to an embodiment of the present invention, controling portion 220 may include waveform generating unit and driving portion.Waveform generating unit can To be connect with control unit, for generating corresponding Wave data based on wavetable data.Driving portion can be connect with waveform generating unit, For implementing current kinetic based on Wave data drive motion components.In the present embodiment, the production of waveform included by portion 220 is controled Life portion and driving portion and function, the structure of waveform generating unit 132 shown in FIG. 1 and driving portion 133 are similar with working method, can be with The present embodiment is understood with reference to the description of waveform generating unit 132 and driving portion 133 above for Fig. 1.

It controls the scheme that portion 220 includes waveform generating unit and driving portion and is only exemplary rather than limitation to invention, for example, driving Control portion 220 can also optionally include be connected to it is between waveform generating unit and driving portion, for storing depositing for PWM wave graphic data Storage portion etc..

In the following, will be described in the working principle and its work of control parts of motion 200 to more clearly understand the present invention The meaning and effect for some information being related to as process.

Kinematic parameter as described herein is the data for controlling moving component movement.The content of kinematic parameter can basis Actually constituting for moving component (such as motor) is different and different.Illustratively, kinematic parameter may include position data, It is one or more in speed data and time data.The position data can be the number of coordinates in rectangular coordinate system in space According to being also possible to rotate angle or other data relevant to position.Position data is the number of coordinates in rectangular coordinate system in space In the case where, kinematic parameter is properly termed as LVT parameter.In the case that position data is rotation angle, kinematic parameter can claim For PVT parameter.LVT parameter may include coordinate (being properly termed as X, Y, Z) and arrival corresponding coordinate in rectangular coordinate system in space The time (being properly termed as T) of point.PVT parameter may include rotation angle (being properly termed as P), rotation speed (being properly termed as V), rotation Turn time (being properly termed as T).

Kinematic parameter sequence as described herein is the queue rearranged in sequence by the kinematic parameter of more than one.? When controlling robot motion, the kinematic parameter in kinematic parameter sequence can be executed according to the sequence of arrangement.It is appreciated that using Family can use control equipment and once edit one or more kinematic parameter, and component movement argument sequence is sent in sequence Control parts of motion 200 is resolved the kinematic parameter sequence for wave table by the control unit 210 of the control parts of motion 200 Data, and wavetable data is exported to the portion that controls 220, it then controls portion 220 and is based on the wavetable data drive motion components reality Apply the current kinetic.

According to embodiments of the present invention, one or many movements can be implemented in each moving component, the fortune arbitrarily moved twice Momentum may be the same or different.For example, 30 ° of a certain motor movement rotation for the first time, second of 60 ° of movement rotation.This Outside, the time of any motion experience twice of each moving component may be the same or different.Illustratively, any movement A movement of equipment where each movement of component can correspond to it.For example, motor X is for the large arm with mobile robot The motor of joint motions, the primary movement of certain of motor X can correspond to make the large-arm joint of robot to rotate by a certain angle, simultaneously In conjunction with the movement in other joints, the end effector of robot can be made to be moved to B point from A point.Movement every time, such as this paper institute The current kinetic stated can correspond to kinematic parameter (the kinematic parameter component movement parameter sequence of the default number of branches of default number of branches Column), the item number for arbitrarily moving corresponding kinematic parameter twice of each moving component may be the same or different.

The execution sequence of movement can optionally be set by control equipment.Implement front and back continuous in time to move twice The moving component of (such as current kinetic and next time move) can be the same moving component, be also possible to by same motion control Two different motion components of component controls can also be the two different fortune controlled respectively by two different motion control units Dynamic component.That is, the moving component for implementing movement next time can be still the first moving component, it is also possible to another movement The moving component for implementing movement next time can be known as the second moving component for latter situation by component.Second moving component It can be controlled, can also be controlled by another control parts of motion by the first control parts of motion 200, it, can for latter situation The control parts of motion for controlling the second moving component is known as the second control parts of motion.Optionally, the first motion control portion Part and the second control parts of motion can be controlled by same control equipment, can also be controlled by different control equipment.

In one example, control unit 210 can be used to control moving component (first with what real-time reception control equipment was sent Moving component) implement the kinematic parameter sequence of current kinetic, and the kinematic parameter sequence is resolved in real time, described in obtaining Wavetable data.In another example, control parts of motion 200 can prestore kinematic parameter sequence or wavetable data, control Portion 210, which can carry out the kinematic parameter sequence prestored resolving, to be obtained wavetable data and exports wavetable data to the portion that controls 220, Or directly the wavetable data prestored is exported to the portion that controls 220.These embodiments will be described in more detail below.

Control unit 210 may rely on the transmission of triggering command control wavetable data.Illustratively, triggering command can wrap Include data information and/or time instruction information.In the case where triggering command only includes time instruction information, resolving can be obtained All or part of wavetable data or all or part of wavetable data prestored is exported to the portion that controls 220.

The data information can be the information of the specified data about estimated output to the portion that controls 220, the specified number According to being at least part data in wavetable data.That is, data information, which can specify needs, is output to the portion of controling 220 Which data are.

In one example, the time instruction information can be specific temporal information, and the specific temporal information is to close Export in by wavetable data to the information of the specific time for controling portion 220, can be a time point or from it is current when Carve a period for starting to calculate.In another example, the time instruction information can be triggering and send information, described Triggering send information be used to indicate in the preset period of time at current time or after current time or current time it Afterwards by exporting wavetable data to the information in the portion that controls 220 when preset period of time.It is not specified specific that the triggering sends information Time point or period can be a such as simple electric impulse signal.

Illustratively, triggering command may include other kinds of control information, such as be controlled by control parts of motion 200 Moving component identification information.Control parts of motion 200 can drive (the i.e. first fortune of moving component indicated by identification information Dynamic component) implement current kinetic.

The output that wavetable data can be accurately controlled based on triggering command, improves the accuracy of motion control.In addition, this Kind scheme gives the biggish freedom degree of user, can be convenient user and controls the output of wavetable data when needed to drive movement portion Part movement.

The current kinetic component that is used to indicate that feedback information as described herein can be the sending of control unit 210 completes current fortune Dynamic information.Optionally, the feedback information may include motion information relevant to current kinetic, for example, including current fortune The identification information of control unit is moved, specifically such as identifier of current kinetic control unit.Optionally, the feedback information can be with Any specifying information is not specified, for example, can be a simple electric impulse signal.

The feedback information can be sent to premise equipment or component by control unit 210.Illustratively, control unit 210 can The feedback information to be sent to the equipment or component or the equipment for being used to execute next control task that issue triggering command Or component.The control task can be understood as any control parts of motion and control times that any moving component is implemented once to move Business.Current control task may be the same or different with control parts of motion involved in next control task.Similarly, Current control task may be the same or different with moving component involved in next control task.

In one example, feedback information can be sent to the equipment or component for issuing triggering command by control unit 210, than Such as, the equipment or component can be control equipment 110 shown in Fig. 1.Illustratively, control equipment receives feedback information Later, prompt information can be exported via its control interface, to prompt the current control task of user to complete.Illustratively, it controls After equipment receives feedback information, new movement ginseng can be sent to control parts of motion 200 or the second control parts of motion Number Sequence, control parts of motion 200 or the second control parts of motion can carry out new kinematic parameter sequence resolving and obtain newly Wavetable data, and the first moving component or the second moving component can be controlled based on new wavetable data and implement movement next time. The process that control equipment sends new kinematic parameter sequence to control parts of motion 200 or the second control parts of motion can be considered as Start the process of next control task.Wherein, about " control parts of motion 200 " and " the second control parts of motion " differentiation Through being described above, equally, the differentiation about " the first moving component " and " the second moving component " also carries out above Corresponding explanation.

In another example, feedback information can be sent to and be used to execute next control task by control unit 210 Another control parts of motion (i.e. the second control parts of motion) triggers the second motion control portion to start next control task Part controls the second moving component based on new kinematic parameter sequence or new wavetable data and implements movement next time.With the first movement Similarly, the second control parts of motion can be used to control the second moving component control unit with what real-time reception control equipment was sent The new kinematic parameter sequence for implementing movement next time, can also prestore kinematic parameter sequence or wavetable data, can refer to upper Text understands the implementation of these embodiments about the description of the corresponding embodiment of the first control parts of motion, repeats no more.

Control parts of motion according to an embodiment of the present invention, control unit, which can export, is used to indicate the anti-of current kinetic completion Feedforward information can timely feedback current kinetic performance.Receive feedback information premise equipment or component (such as control set Standby or another control parts of motion) it can know that current control task is completed, and then can choose and continue with next control times Business, the synchronism of motion control can be improved in this way, reduce the waiting time of motion control, can effectively promote user experience. In addition, receiving the premise equipment of feedback information or component is also an option that the current control task of prompt user is completed, Yong Huke With the state of timely learning motion control, so as to promote user experience.In addition, user know motion control state it Afterwards, other control tasks can also be handled via control equipment control, similarly helps to the synchronism for improving motion control in this way, The waiting time of motion control is reduced, and helps further to promote user experience.

According to embodiments of the present invention, triggering command can be by executing behaviour to the hardware component in control parts of motion 200 Make and generate, can also be received and be obtained from the external equipment for such as controlling equipment by control parts of motion 200, it can also be passed through He obtains suitable mode.

Illustratively, control unit 210 can be also used for automatic control control equipment and receive triggering command.

Control unit 210 can receive triggering via above-mentioned CAN data line or other kinds of communication device automatic control control equipment Instruction, control unit 210 may rely on the transmission of triggering command control wavetable data.

Automatic control control equipment receives triggering command, can be started by way of human-computer interaction to moving component in order to user The real-time and accuracy of control can be improved in motion control.

Illustratively, premise equipment or component be control equipment, i.e., control unit 210 feedback information can be exported to Control equipment.

It is appreciated that control unit 210 exports feedback information to control equipment, control equipment in this way can obtain fortune in time Dynamic control unit executes the state of control task, in favor of the processing of next control task.In one example, based on reception Feedback information, control equipment can judge and issue new control instruction relevant to next control task automatically, should Control instruction may include, such as new triggering command and/or implement for controlling the first moving component or the second moving component The new kinematic parameter sequence of movement next time.In another example, control equipment can not automatically process, but export prompt Information executes next control task to be handled it by user according to prompt information preferably to control control parts of motion. For example, control equipment may include it is one or more in buzzer, loudspeaker, flash lamp and touch screen etc., prompt information can With include the buzzer buzzerphone, the loudspeaker that the issue voice signal, the flash lamp that issue issue optical signal, touch screen shows Letter signal, the picture signal that shows of touch screen etc. in it is one or more.

Illustratively, control parts of motion can also include trigger unit, and the trigger unit connect with control unit 210, is used for The triggering command is sent to the control unit 210 based on user's operation.

In order to illustrate more clearly of the present invention, Fig. 3 shows control parts of motion in accordance with another embodiment of the present invention 300 schematic block diagram.It should be noted that control parts of motion 300 shown in Fig. 3 is only exemplary rather than limitation of the present invention, root It can have other alternative implementations according to the structure and working method of the control parts of motion 300 of the embodiment of the present invention, And it is not limited to specific example shown in Fig. 3.For example, trigger unit 330 is optionally, control parts of motion 300 can not include Trigger unit 330.

Referring to Fig. 3, trigger unit 330 is shown.Trigger unit 330 can be and any appropriate can operate on it in user When issue corresponding signal component.For example, trigger unit 330 can be button switch, and when user pushes the button switch, the button Switch can correspondingly issue electric signal.In this case, triggering command can optionally only include that triggering sends information, i.e., The electric signal that button switch issues.In another example trigger unit 330 can be touch screen, user can be by defeated with touch screen interaction Enter triggering command.In this case, triggering command may include data information and/or time instruction information, and wherein the time refers to Show that information can be specific temporal information or triggering sends information.

Optionally, trigger unit 330 can be used only for the output of control wavetable data, further can also have other attached Add function, such as the function of opening movement control unit 300 etc..Opening movement control unit 300 refers to for control parts of motion 300 power on, and all parts in control parts of motion 300 are started to work.Have in trigger unit 330 and opens fortune In the case where the function of dynamic control unit 300, user executes operation to trigger unit 330, such as pushes above-mentioned button switch, can be with It opening movement control unit 300 and triggers wavetable data and exports to the portion that controls 320.That is, control parts of motion 300 is opened Qi Shi, can automatically begin to output wavetable data and drive motion components movement, this working method can be further reduced use Family operation, improves working efficiency.

Trigger unit 330 sends triggering command to control unit 310, and control unit 310 can be according to triggering command, by wavetable data It exports to the portion that controls 320.

Trigger unit 330 can directly or indirectly trigger wavetable data and export to the portion that controls 320.In one example, it controls Portion 310 can also include the processing unit (not shown) with memory control ability.Trigger unit 330 can be via wired or nothing Triggering command is transmitted to processing unit by line communication mode.Illustratively, processing unit can be deposited with first in control unit 310 Storage portion 318 (will be described below) connection, to control the reading data of the first storage unit 318, such as control wavetable data extremely drives The output in control portion 320.In another example, the solving unit 316 (will be described below) in control unit 310, which can have, deposits Reservoir control ability.For example, triggering command can be transmitted to solving unit via wired or wireless communication mode by trigger unit 330 316.Solving unit 316 can control the reading data of the first storage unit 318, such as control wavetable data to the portion that controls 320 Output.In yet another example, trigger unit 330 can be connect with the first storage unit 318, and trigger unit 330, which itself can have, deposits Reservoir control ability.Trigger unit 330 can control the reading data of the first storage unit 318, such as send to the first storage unit 318 Triggering command is to control the output of wavetable data to the portion that controls 330.

Herein, wavetable data is exported to the operation in the portion that controls 320 and controls portion 320 based on wave by control unit 310 The operation of table data-driven moving component movement can be considered as the operation of the motion control to moving component.Triggering command can trigger (or saying starting) motion control operation, that is, so that motion control operation starts to execute.

Using trigger unit 330, control parts of motion 300 itself can be made to have and receive user's operation information and triggering pair The ability of the motion control operation of moving component, such control parts of motion 300, which may not need to receive to trigger from control equipment, to be referred to It enables, equipment where moving component is allowed to be detached from control equipment off-line work.

Illustratively, premise equipment or component can be trigger unit, i.e., control unit the feedback information can be exported to The trigger unit.

Control unit 310 exports feedback information to trigger unit 330.Illustratively, in response to the reception of feedback information, triggering Portion 330 can send new triggering command to control unit 310, be exported with triggering control unit 310 for new wavetable data to controling Portion 320, the first moving component controlled by control parts of motion 300 can be driven based on new wavetable data by controling portion 320 Or second moving component implement next time movement.Illustratively, it is complete can also to export the prompt current control task of user for trigger unit 330 At prompt information.For example, trigger unit 330 may include one or more in buzzer, loudspeaker, flash lamp and touch screen etc. , prompt information may include buzzer issue buzzerphone, loudspeaker issue voice signal, flash lamp issue light letter Number, it is one or more in the picture signal that shows of the touch screen letter signal, the touch screen that show etc..Based on prompt information, use Family can operate trigger unit 330, to send new triggering command from trigger unit 330 to control unit 310.

Illustratively, premise equipment or component can be another control parts of motion for executing next control task, I.e. control unit can export the feedback information to another control parts of motion, and the control parts of motion is for controlling another fortune Dynamic component implements movement next time after current kinetic.

It is appreciated that control unit 310, which exports feedback information, can indicate that current control task has been completed, execute next Another control parts of motion of control task can start to execute its control task after receiving the feedback information.Than if any Two control parts of motion A and B, control parts of motion A control moving component AR, control parts of motion B control moving component BR. It needs just implement movement next time by moving component BR after moving component AR implements to complete current kinetic.Control parts of motion The control unit of A is after control moving component AR implements to complete current kinetic, output feedback information to control parts of motion B, movement After control unit B receives the feedback information, the control unit of control parts of motion B can control moving component BR and implement next time Movement.Therefore, the control parts of motion A feedback information exported can be optionally considered as to the triggering command of control parts of motion B.

In one embodiment, control parts of motion 300 can also include additional communication device (not shown).This is additional Communication device can be connect with control unit 310, control unit 310 export feedback information can first export to the communication device, Then another control parts of motion for executing next control task is forwarded to by the communication device again.

Control unit exports feedback information to another control parts of motion for being used to execute next control task, can make another One control parts of motion obtains feedback information in time, to help to realize synchronously control, improves execution efficiency.

Illustratively, control unit may include the first storage unit.First storage unit is for prestoring the wavetable data； The control unit is specifically used for the reception in response to the triggering command, the wavetable data that first storage unit is prestored Output controls portion to described.

As shown in figure 3, control unit 310 may include the first storage unit 318.First storage unit 318 connects with portion 320 is controled It connects.

First storage unit 318 can be realized using any suitable storage medium.Illustratively, the first storage unit 318 can To be realized using nonvolatile memory and/or volatile memory, for example, the first storage unit 318 may include read-only storage Device (ROM), Erasable Programmable Read Only Memory EPROM (EPROM), portable compact disc read-only memory (CD-ROM), USB storage Any combination of one of device, random access memory (RAM) or above-mentioned storage medium.

Illustratively, the first storage unit may include the first buffer and first memory.First buffer is used for Cache the wavetable data；The first memory is connect with first buffer, full for writing in first buffer When, all data cached in first buffer are stored so that first buffer empties.

As shown in figure 3, the first storage unit 318 may include the first buffer 3182 and first memory 3184.First deposits Reservoir 3184 is connect with first buffer 3182.

First buffer 3182 can be any memory that can be data cached, such as static random access memory (SRAM) etc..First memory 3184 can be the storage of any wavetable data storage demand that can satisfy control parts of motion Device.Different from the first buffer 3182, first memory 3184 can store wavetable data in the given time more stablely. In one example, first memory 3184 can be nonvolatile memory, such as ROM etc., such first memory 3184 It can be with permanent storage wavetable data, convenient for supporting equipment (such as robot) the long-term offline work of moving component place.Another In one example, first memory 3184 is also possible to volatile memory, such as RAM etc., such first memory 3184 can At least to store wavetable data during control parts of motion powers on, equipment where can also supporting moving component (such as machine People) it works offline within a certain period of time.

It is appreciated that control parts of motion resolves kinematic parameter sequence for after wavetable data, it can be first by wave table number According to buffer is write, writing speed can be improved in this way, reduce the write-in number of wave table memory, deposited so as to greatly promote Store up efficiency.Meanwhile wave table memory can store wavetable data permanently or within a certain period of time, convenient for supporting moving component place Equipment (such as robot) works offline.

Illustratively, control unit may include data reception portion, the second storage unit and solving unit.The data reception portion For receiving the kinematic parameter sequence；Second storage unit is connect with the data reception portion, for storing the movement Argument sequence；The solving unit is connect with second storage unit, for reading the movement ginseng from second storage unit Number Sequence, and the kinematic parameter sequence is resolved, to obtain the wavetable data.

As shown in figure 3, control unit 310 may include data reception portion 312, the second storage unit 314, solving unit 316, number It is connect according to receiving unit 312 with the second storage unit 314, solving unit 316 connects with the second storage unit 314, the first storage unit 318 respectively It connects.Optionally, data reception portion 312 can connect via above-mentioned CAN bus or other kinds of communication device automatic control control equipment Kinematic parameter sequence is received, and the kinematic parameter sequence can be stored in the second storage unit 314.Solving unit 316 from second Storage unit 314 reads the kinematic parameter sequence, and resolves to the kinematic parameter sequence, obtains wavetable data.Then The wavetable data can be exported and be stored to above-mentioned first storage unit 318 by solving unit 316.

Second storage unit 314 is optionally that data reception portion 312 can will directly connect without the second storage unit 314 The kinematic parameter sequence of receipts is sent to solving unit 316.

Second storage unit 314 can store kinematic parameter sequence, and it is logical that such control parts of motion can once receive user The a large amount of kinematic parameters for crossing control device configuration can further support equipment (such as robot) offline work where moving component Make.In addition, this scheme also can be convenient solving unit 316 obtains kinematic parameter as needed at any time, without obtaining movement When parameter, it can store in the second storage unit 314.

Illustratively, the second storage unit includes the second buffer, and second buffer is for caching the kinematic parameter Sequence, the data reception portion are specifically used for the reception in response to the triggering command, receive the kinematic parameter sequence.Specifically Ground, data reception portion can be in response to the receptions of the triggering command, described in automatic control control equipment (such as control equipment 110) receives Kinematic parameter sequence.

Second buffer can be any memory that can be data cached, such as static random access memory (SRAM) Deng.

As described above, control unit can control the moving component that is used to control that equipment is sent with real-time reception implements current kinetic Kinematic parameter sequence, and the kinematic parameter sequence is resolved in real time, to obtain the wavetable data.That is, fortune Dynamic control unit can not store kinematic parameter, need to carry out equal real-time reception kinematic parameter when motion control every time.This In the case of, received kinematic parameter can be buffered optionally with the second buffer.Solving unit 316 can be according to certainly Body resolving ability reads suitable number of kinematic parameter in batches and is resolved, using the second buffer to received kinematic parameter into Row buffering can help solving unit 316 preferably to coordinate it and resolve work.

In the present embodiment, data reception portion 312 optionally can receive triggering command by automatic control control equipment.In response to triggering The reception of instruction, each component in control unit 310 can execute following operation: 312 automatic control control equipment of data reception portion receives fortune Kinematic parameter sequence is simultaneously transmitted to the second storage unit 314 by dynamic argument sequence, the second buffer buffers in the second storage unit 314 Kinematic parameter sequence, solving unit 316 read kinematic parameter sequence from the second buffer and are resolved to obtain wavetable data, Subsequent solving unit 316 exports wavetable data to the portion that controls 320.

Illustratively, the second storage unit may include second memory, for storing kinematic parameter sequence, second memory It is permanent memory, solving unit is specifically used for the reception in response to triggering command, the movement to prestoring in the second storage unit Argument sequence is resolved, to obtain wavetable data.

Second memory can be the memory of any kinematic parameter storage demand that can satisfy control parts of motion.With Second buffer is different, and second memory can store kinematic parameter in the given time more stablely.In one example, Second memory can be nonvolatile memory, such as ROM etc., and such second memory can be moved with permanent storage joins Number, convenient for supporting equipment (such as robot) the long-term offline work of moving component place.In another example, second memory It is also possible to volatile memory, such as RAM etc., such second memory can be deposited at least during control parts of motion powers on Kinematic parameter is stored up, equipment (such as robot) works offline within a certain period of time where can also supporting moving component.

Illustratively, the portion 320 shown in Fig. 3 that controls may include waveform generating unit 322 and driving portion 324.Wave in Fig. 3 Shape generating unit 322, the function of driving portion 324, position and structure respectively with waveform generating unit 132 shown in FIG. 1, driving portion 133 It is similar.For sake of simplicity, details are not described herein.

The exemplary operation process of whole description control parts of motion 300 below.It is primary that user can use control equipment One or more kinematic parameter is edited, and component movement argument sequence is sent to control parts of motion 300, movement control in sequence Data reception portion 312 in component 300 processed stores the received kinematic parameter sequence to the second storage unit 314.It resolves single Member 316 reads the kinematic parameter of the predetermined number in kinematic parameter sequence from the second storage unit 314 every time and makes a reservation for reading The kinematic parameter of number is resolved, after solving unit 316 resolves the kinematic parameter of predetermined number every time, the wave that will calculate Table data are output to the first buffer 3182, and when first buffer 3182 writes full, first memory 3184 stores described All data cached in first buffer 3182 are so that first buffer 3182 empties.The first buffer after emptying 3182 continue to cache the wavetable data that solving unit 316 calculates, when first buffer 3182 writes full, first memory 3184, which repeat above-mentioned steps, stores all data cached in the first buffer 3182.Control unit 310 is in response to trigger unit 330 The triggering command of sending exports the wavetable data stored in first memory 3184 to the waveform generating unit in the portion that controls 320 322, waveform generating unit 322 is based on wavetable data and generates corresponding Wave data, and the Wave data is exported to driving portion 324, driving portion is moved based on the Wave data drive motion components.When the moving component completes the current kinetic, Control unit 310 exports the feedback information for being used to indicate the current kinetic completion to premise equipment or component, by premise equipment Or component starts next control task and/or the current control task of prompt user is completed.

It is according to an embodiment of the present invention in another aspect, additionally provide a kind of motion control method, be applied to motion control portion Part, for the control parts of motion for controlling moving component movement, the control parts of motion includes control unit interconnected With control portion.

Fig. 4 shows the schematic flow chart of motion control method 400 according to an embodiment of the invention.Such as Fig. 4 institute Show, motion control method 400 includes the following steps.

Wavetable data is exported to described and is controled using the control unit in response to the reception of triggering command by step S410 Portion, wherein the wavetable data is by resolving the kinematic parameter sequence for implementing current kinetic for controlling moving component It obtains.

Step S420 is based on the wavetable data drive motion components using the portion of controling and implements the current kinetic.

Step S430, using the control unit when the moving component completes the current kinetic, by being used to indicate The feedback information for stating current kinetic completion is exported to premise equipment or component, to be worked as by the premise equipment or component prompt user Next control task is completed and/or started to preceding control task, wherein the control task is real about any moving component is controlled Apply primary moving for task.

Motion control method according to an embodiment of the present invention, the control unit in control parts of motion can be moved with feedback control Component completes the information of current kinetic, receives the premise equipment or component (such as control equipment or another movement of feedback information Control unit) it can be based on feedback information, it continues to execute next control task or the current control task of prompt user is completed, this Sample helps to promote user experience, and helps to improve the synchronism of motion control in any case, reduces motion control Waiting time.

Illustratively, in response to the reception of triggering command, wavetable data is exported to before controling portion using control unit, Motion control method further include: receive triggering command using control unit automatic control control equipment.

Illustratively, using control unit when moving component completes current kinetic, the premise equipment or component are described Control equipment.

Illustratively, control parts of motion further includes the trigger unit connecting with control unit, is responded using the control unit In the reception of triggering command, by wavetable data export to it is described control portion before, motion control method further include: utilize the touching Hair portion is based on user's operation and sends the triggering command to the control unit.

Illustratively, the premise equipment or component are the trigger units.

Illustratively, the premise equipment or component are another motion control portions for executing next control task Part.

Illustratively, control unit includes the first storage unit for prestoring wavetable data, using control unit in response to triggering The reception of instruction, it includes: using the control unit in response to the triggering command that wavetable data, which is exported to the portion of controling, It receives, the wavetable data that first storage unit prestores is exported to controling portion.

Illustratively, the first storage unit includes the first buffer and first memory interconnected, is utilizing control unit In response to the reception of triggering command, by wavetable data export to it is described control portion before, motion control method further include: utilize institute State wavetable data described in the first buffer buffers；Using the first memory when first buffer writes full, institute is stored All data cached in the first buffer are stated so that first buffer empties.

Illustratively, control unit includes sequentially connected data reception portion, the second storage unit, solving unit, is utilizing control Portion processed in response to triggering command reception, by wavetable data export to it is described control portion before, motion control method further include: benefit Kinematic parameter sequence is received with the data reception portion；The kinematic parameter sequence is stored using the second storage unit；And it utilizes The solving unit reads the kinematic parameter sequence from second storage unit, and solves to the kinematic parameter sequence It calculates, to obtain the wavetable data.

Illustratively, the second storage unit includes the second buffer, and second buffer is used for buffered motion argument sequence, Receiving the kinematic parameter sequence using data reception portion includes: connecing in response to triggering command using the data reception portion It receives, receives the kinematic parameter sequence.

Illustratively, the second storage unit includes second memory, and for storing the kinematic parameter sequence, described second is deposited Reservoir is permanent memory, is resolved using solving unit to kinematic parameter sequence, includes: to utilize to obtain wavetable data The solving unit carries out the kinematic parameter sequence prestored in second storage unit in response to the reception of triggering command It resolves, to obtain the wavetable data.

Illustratively, the portion of controling includes waveform generating unit interconnected and driving portion, is based on wave using the portion of controling It includes: to be based on the wavetable data using the waveform generating unit to generate correspondence that table data-driven moving component, which implements current kinetic, Wave data；And the Wave data is based on using the driving portion, the moving component is driven to implement the current fortune It is dynamic.

According to another aspect of an embodiment of the present invention, a kind of robot is additionally provided, the robot includes above-mentioned fortune Dynamic control unit 200 or 300.

Another aspect according to an embodiment of the present invention additionally provides a kind of kinetic control system, the kinetic control system Including control equipment and above-mentioned control parts of motion 200 or 300, the control parts of motion from the control equipment for connecing Receive kinematic parameter sequence.

In order to illustrate more clearly of the present invention, Fig. 5 shows kinetic control system 500 according to an embodiment of the invention Schematic block diagram.Fig. 5 is only a kind of example of kinetic control system 500, kinetic control system according to an embodiment of the present invention Structure and working method can have other alternative implementations, and be not limited to specific example shown in fig. 5.Example Such as, trigger unit 536 is optional, and control parts of motion 530 can not include trigger unit 536.

As shown in figure 5, kinetic control system 500 may include control equipment 510 and control parts of motion 530.The fortune The structure of dynamic control unit 530 is similar with the above control parts of motion 300 with working method, can control with reference to above for movement The description of component 300 processed understands control parts of motion 530.Optionally, kinetic control system 500 can also include CAN data line 520 and/or moving component 540.Control equipment 510, CAN data line 520 and moving component 540 in kinetic control system 500 Function, position it is similar with the corresponding component in the above kinetic control system 100 respectively with structure.For sake of simplicity, herein no longer It repeats.Kinetic control system 500 may include multiple control parts of motion 530.Each control parts of motion 530 can be used for controlling Make one or more moving components 540.

CAN data line 520 is only exemplary rather than limitation of the present invention, can be realized using other suitable communication devices Control the communication between equipment 510 and control parts of motion 530.For example, CAN data line can be substituted with wireless communication device 520, which can be such as blue-tooth device, infrared facility.

Kinetic control system according to an embodiment of the present invention, the control unit in control parts of motion can be moved with feedback control Component completes the information of current kinetic, receives the premise equipment or component (such as control equipment or another movement of feedback information Control unit) it can be based on feedback information, it continues to execute next control task or the current control task of prompt user is completed, this Sample helps to promote user experience, and helps to improve the synchronism of motion control in any case, reduces motion control Waiting time.

Those of ordinary skill in the art are by reading the associated description above for control parts of motion, it is possible to understand that above-mentioned The specific implementation of motion control method, robot and kinetic control system, for sake of simplicity, details are not described herein.

Although describing example embodiment by reference to attached drawing here, it should be understood that above example embodiment are only exemplary , and be not intended to limit the scope of the invention to this.Those of ordinary skill in the art can carry out various changes wherein And modification, it is made without departing from the scope of the present invention and spiritual.All such changes and modifications are intended to be included in appended claims Within required the scope of the present invention.

Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed The scope of the present invention.

In several embodiments provided herein, it should be understood that disclosed device and method can pass through it Its mode is realized.For example, apparatus embodiments described above are merely indicative, for example, the division of the unit, only Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied Another equipment is closed or is desirably integrated into, or some features can be ignored or not executed.

In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail And technology, so as not to obscure the understanding of this specification.

Similarly, it should be understood that in order to simplify the present invention and help to understand one or more of the various inventive aspects, To in the description of exemplary embodiment of the present invention, each feature of the invention be grouped together into sometimes single embodiment, figure, Or in descriptions thereof.However, the method for the invention should not be construed to reflect an intention that i.e. claimed The present invention claims features more more than feature expressly recited in each claim.More precisely, such as corresponding power As sharp claim reflects, inventive point is that the spy of all features less than some disclosed single embodiment can be used Sign is to solve corresponding technical problem.Therefore, it then follows thus claims of specific embodiment are expressly incorporated in this specific Embodiment, wherein each, the claims themselves are regarded as separate embodiments of the invention.

It will be understood to those skilled in the art that any combination pair can be used other than mutually exclusive between feature All features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed any method Or all process or units of equipment are combined.Unless expressly stated otherwise, this specification (is wanted including adjoint right Ask, make a summary and attached drawing) disclosed in each feature can be replaced with an alternative feature that provides the same, equivalent, or similar purpose.

In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention Within the scope of and form different embodiments.For example, in detail in the claims, embodiment claimed it is one of any Can in any combination mode come using.

Various component embodiments of the invention can be implemented in hardware, or to run on one or more processors Software module realize, or be implemented in a combination thereof.It will be understood by those of skill in the art that can be used in practice Microprocessor or digital signal processor (DSP) realize some moulds in kinetic control system according to an embodiment of the present invention The some or all functions of block.The present invention is also implemented as a part or complete for executing method as described herein The program of device (for example, computer program and computer program product) in portion.It is such to realize that program of the invention can store On a computer-readable medium, it or may be in the form of one or more signals.Such signal can be from internet Downloading obtains on website, is perhaps provided on the carrier signal or is provided in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and ability Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims, Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not Element or step listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of multiple such Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real It is existing.In the unit claims listing several devices, several in these devices can be through the same hardware branch To embody.The use of word first, second, and third does not indicate any sequence.These words can be explained and be run after fame Claim.

The above description is merely a specific embodiment or to the explanation of specific embodiment, protection of the invention Range is not limited thereto, and anyone skilled in the art in the technical scope disclosed by the present invention, can be easily Expect change or replacement, should be covered by the protection scope of the present invention.Protection scope of the present invention should be with claim Subject to protection scope.

Claims (26)

1. a kind of control parts of motion, the control parts of motion is for controlling moving component movement, the control parts of motion Including control unit interconnected and control portion, which is characterized in that

The control unit is used for the reception in response to triggering command, and wavetable data is exported to described and controls portion, wherein the wave Table data are by carrying out resolving acquisition to the kinematic parameter sequence for implementing current kinetic for controlling the moving component；

The portion of controling is used to drive the moving component to implement the current kinetic based on the wavetable data；

Wherein, the control unit is also used to when the moving component completes the current kinetic, will be used to indicate described current The feedback information that movement is completed is exported to premise equipment or component, to start next control task by the premise equipment or component And/or the current control task of prompt user is completed, wherein the control task is primary about any moving component implementation is controlled The task of movement.

2. control parts of motion as described in claim 1, which is characterized in that the control unit is also used to the reception of automatic control control equipment The triggering command.

3. control parts of motion as claimed in claim 2, which is characterized in that the premise equipment or component are that the control is set It is standby.

4. control parts of motion as described in claim 1, which is characterized in that the control parts of motion further include:

Trigger unit is connect with the control unit, for sending the triggering command to the control unit based on user's operation.

5. control parts of motion as claimed in claim 4, which is characterized in that the premise equipment or component are the triggerings Portion.

6. the control parts of motion as described in claim 1,2 or 4, which is characterized in that the premise equipment or component are to be used for Execute another control parts of motion of next control task.

7. such as control parts of motion described in any one of claim 1 to 5, which is characterized in that the control unit includes: first to deposit Storage portion, for prestoring the wavetable data；

The control unit is specifically used for the reception in response to the triggering command, the wave table that first storage unit is prestored Data export to described and control portion.

8. control parts of motion as claimed in claim 7, which is characterized in that first storage unit include the first buffer and First memory,

First buffer is for caching the wavetable data；

The first memory is connect with first buffer, for when first buffer writes full, stores described the All data cached in one buffer are so that first buffer empties.

9. such as control parts of motion described in any one of claim 1 to 5, which is characterized in that the control unit includes:

Data reception portion, for receiving the kinematic parameter sequence；

Second storage unit is connect with the data reception portion, for storing the kinematic parameter sequence；And

Solving unit is connect with second storage unit, for reading the kinematic parameter sequence from second storage unit, and The kinematic parameter sequence is resolved, to obtain the wavetable data.

10. control parts of motion as claimed in claim 9, which is characterized in that second storage unit includes the second buffer, Second buffer is used to cache the kinematic parameter sequence,

The data reception portion is specifically used for the reception in response to the triggering command, receives the kinematic parameter sequence.

11. control parts of motion as claimed in claim 9, which is characterized in that second storage unit includes second memory, For storing the kinematic parameter sequence, the second memory is permanent memory,

The solving unit is specifically used for the reception in response to the triggering command, described in prestoring in second storage unit Kinematic parameter sequence is resolved, to obtain the wavetable data.

12. control parts of motion as described in claim 1, which is characterized in that the portion of controling includes:

Waveform generating unit is connect with the control unit, for generating corresponding Wave data based on the wavetable data；And

Driving portion is connect with the waveform generating unit, for being driven described in the moving component implementation based on the Wave data Current kinetic.

13. a kind of motion control method is applied to control parts of motion, the control parts of motion is for controlling moving component fortune Dynamic, the control parts of motion includes control unit interconnected and controls portion, which is characterized in that the motion control method packet It includes:

Using the control unit in response to the reception of triggering command, wavetable data is exported to described and controls portion, wherein the wave Table data are by carrying out resolving acquisition to the kinematic parameter sequence for implementing current kinetic for controlling the moving component；

Being based on the wavetable data using the portion of controling drives the moving component to implement the current kinetic；

Using the control unit when the moving component completes the current kinetic, the current kinetic will be used to indicate and completed Feedback information export to premise equipment or component, to be completed by the premise equipment or the current control task of component prompt user And/or the next control task of starting, wherein the control task is appointed about what any moving component of control was implemented once to move Business.

14. motion control method as claimed in claim 13, which is characterized in that utilize the control unit in response to touching described The reception to send instructions, by wavetable data export to it is described control portion before, the motion control method further include:

The triggering command is received using the control unit automatic control control equipment.

15. motion control method as claimed in claim 14, which is characterized in that the premise equipment or component are the control Equipment.

16. motion control method as claimed in claim 13, which is characterized in that the control parts of motion further include with it is described The trigger unit of control unit connection, it is described using the control unit in response to the reception of triggering command, by wavetable data export to It is described control portion before, the motion control method further include:

User's operation, which is based on, using the trigger unit sends the triggering command to the control unit.

17. motion control method as claimed in claim 16, which is characterized in that the premise equipment or component are the triggerings Portion.

18. the motion control method as described in claim 13,14 or 16, which is characterized in that the premise equipment or component are For executing another control parts of motion of next control task.

19. such as the described in any item motion control methods of claim 13 to 17, which is characterized in that the control unit includes being used for Prestore the first storage unit of the wavetable data, it is described using the control unit in response to the reception of triggering command, by wave table number Include: according to output to the portion of controling

Using the control unit in response to the reception of the triggering command, the wavetable data that first storage unit is prestored Output controls portion to described.

20. motion control method as claimed in claim 19, which is characterized in that first storage unit includes interconnected First buffer and first memory, it is described using the control unit in response to the reception of triggering command, wavetable data is defeated Before controling portion described in out, the motion control method further include:

Utilize wavetable data described in first buffer buffers；

Using the first memory when first buffer writes full, all numbers cached in first buffer are stored Accordingly empty first buffer.

21. such as the described in any item motion control methods of claim 13 to 17, which is characterized in that the control unit includes successively The data reception portion of connection, the second storage unit, solving unit, in the connecing in response to triggering command using the control unit Receive, by wavetable data export to it is described control portion before, the motion control method further include:

The kinematic parameter sequence is received using the data reception portion；

The kinematic parameter sequence is stored using second storage unit；And

The kinematic parameter sequence is read from second storage unit using the solving unit, and to the kinematic parameter sequence It is resolved, to obtain the wavetable data.

22. motion control method as claimed in claim 21, which is characterized in that second storage unit includes the second buffering Device, second buffer are described to receive the movement using the data reception portion for caching the kinematic parameter sequence Argument sequence includes:

Using the data reception portion in response to the reception of the triggering command, the kinematic parameter sequence is received.

23. motion control method as claimed in claim 21, which is characterized in that second storage unit includes the second storage Device, for storing the kinematic parameter sequence, the second memory is permanent memory, described to utilize the solving unit The kinematic parameter sequence is resolved, includes: to obtain the wavetable data

The movement using the solving unit in response to the reception of the triggering command, to being prestored in second storage unit Argument sequence is resolved, to obtain the wavetable data.

24. motion control method as claimed in claim 13, which is characterized in that the portion of controling includes waveform interconnected Generating unit and driving portion, the portion of controling described in the utilization is based on the wavetable data, and to drive the moving component to implement described current Movement includes:

The wavetable data, which is based on, using the waveform generating unit generates corresponding Wave data；And

Being based on the Wave data using the driving portion drives the moving component to implement the current kinetic.

25. a kind of robot, which is characterized in that the robot includes such as the described in any item movement controls of claim 1 to 12 Component processed.

26. a kind of kinetic control system, which is characterized in that the kinetic control system includes control equipment and such as claim 1 To 12 described in any item control parts of motion, the control parts of motion is used to receive kinematic parameter sequence from the control equipment Column.