CN111670093B - Robot motion control method, control system and storage device - Google Patents
Robot motion control method, control system and storage device Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
Abstract
A motion control method of a robot, a motion control system of the robot and a storage device, wherein the motion control method comprises the following steps: acquiring a planning track and a planning gesture of a first planning motion and a second planning motion of the robot end effector, wherein the first planning motion starts from a turning-out point and ends at an intermediate point, and the second planning motion starts from the intermediate point and ends at a turning-in point; and determining a planning pose of a transitional motion of the robot end effector according to the planning pose of the first planning motion, the planning pose at the middle point and the planning pose of the second planning motion of the robot end effector, wherein the transitional motion starts at the turning-out point and ends at the turning-in point; the robot motion control system comprises a processor, wherein the processor can be loaded with program instructions and execute a motion control method of the robot; the storage device stores program instructions that can be loaded and executed by the motion control method of the robot. The planning postures of the transitional movement of the end effector of the robot are determined by using the planning postures of the first planning movement and the second planning movement of the robot and the planning postures at the middle point, so that the angular speed in the obtained planning of the transitional movement of the end effector of the robot is continuous, the occurrence of angular speed jump of the transitional movement of the end effector of the robot is prevented, and the movement control of the robot is facilitated.
Description
Technical Field
The present invention relates to the field of robot control technologies, and in particular, to a motion control method for a robot, a motion control system for a robot, and a storage device.
Background
The trajectory of the robot generally refers to the trajectory of the end effector of the robot. The trajectory description of the end effector can be divided into two parts, path and pose: the path describes the position of the end effector motion, i.e. the position of the robot tool center point (Tool Center Point, TCP), i.e. the origin of the robot tool coordinate system, in coordinates; the pose describes the direction of end effector motion and is represented in a variety of ways, such as a rotation matrix, euler angles, quaternions, and the like. If the end effector of the robot is to be controlled to move in a desired trajectory, a Continuous Path (CP) mode may be used, where each CP motion is a linear motion. In general, a transitional motion can be defined for two successive CP motions so that they transition smoothly, i.e., the end effector is made to stick out from a point in the anterior CP motion trajectory and continue to move in accordance with the planned transitional motion, and then stick into a point in the posterior CP motion trajectory.
However, the existing planning method of transitional motion generally only considers the continuous speed (or continuous path) of the front section CP motion, the transitional motion and the rear section CP motion, but does not consider the continuous gesture (i.e. continuous angular speed), so that the situation that the gesture is discontinuous or the angular speed jumps may exist in the transitional motion of the end effector, and the motion control performance of the robot is affected.
Disclosure of Invention
The application provides a motion control method of a robot, a motion control system of the robot and a storage device, which are used for improving the motion control performance of the robot.
In order to solve the above technical problems, a technical solution adopted in the present application is to provide a motion control method of a robot, the method comprising: acquiring a planning track and a planning gesture of a first planning motion and a second planning motion of the robot end effector, wherein the first planning motion starts from a turning point and ends at an intermediate point, and the second planning motion starts from the intermediate point and ends at a turning point; and determining a planned pose of a transitional motion of the robot end effector according to the planned pose of the first planned motion, the planned pose at the intermediate point and the planned pose of the second planned motion of the robot end effector, wherein the transitional motion starts at the turning point and ends at the turning point.
In order to solve the above technical problems, another technical solution adopted in the present application is to provide a motion control method of a robot, the method comprising: acquiring a planning track and a planning gesture of a first planning motion and a second planning motion of the robot end effector, wherein the first planning motion starts from a turning point and ends at an intermediate point, and the second planning motion starts from the intermediate point and ends at a turning point; determining a planned track and a planned gesture of transition motion of the robot end effector, wherein the transition motion starts from the turning point and ends at the turning point; wherein the step of determining a planning pose for transitional motion of the robotic end effector comprises: and determining the planning posture of the transitional motion of the robot end effector according to the planning posture of the first planning motion, the planning posture of the middle point and the planning posture of the second planning motion of the robot end effector.
In order to solve the above technical problems, another technical solution adopted in the present application is to provide a robot motion control system, which includes a controller, wherein the controller can load program instructions and execute the motion control method of any robot.
In order to solve the above technical problem, another technical solution adopted in the present application is to provide a device with a storage function, in which program instructions are stored, and the program instructions can be loaded and executed to perform the motion control method of any robot.
The beneficial effects of this application are: the planning postures of the transitional movement of the robot end effector are determined by using the planning postures of the first planning movement and the second planning movement of the robot end effector and the planning postures at the middle point, so that the obtained angular speed of the transitional movement of the robot end effector is continuous, and the occurrence of angular speed jump of the transitional movement of the robot end effector is prevented. The efficiency and stability of robot motion control are improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an embodiment of a method for controlling motion of a robot of the present application;
FIG. 2 illustrates exemplary trajectories of a first planned motion, a second planned motion, and a transitional motion of a robotic end effector;
FIG. 3 is a flow chart of another embodiment of a motion control method of the robot of the present application;
FIG. 4 is a flow chart of yet another embodiment of a motion control method of the robot of the present application;
FIG. 5 is a flow chart of another embodiment of a motion control method of the robot of the present application;
fig. 6 is a schematic structural view of an embodiment of a motion control system for a robot of the present application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a motion control method of a robot according to the present application. As shown, the method includes:
s101: and acquiring a planning track and a planning gesture of a first planning motion and a second planning motion of an end effector of the robot, wherein the first planning motion starts from a turning point and ends at a middle point, and the second planning motion starts from the middle point and ends at a turning point.
The robot in the present application may be an industrial robot or a life service type robot. The first planning motion and the second planning motion of the end effector of the robot are linear motions, such as CP motions. The first planning motion and the second planning motion may be a continuous two-segment CP motion or a portion thereof. The turning point is a starting point of transition motion for smoothly connecting the two sections of CP motions, and can be understood as turning out from the original planned track of the CP motion when the end effector moves to the turning point; similarly, the turning point is the ending point of the transitional motion used to smoothly connect the two CP motions, and can be understood as re-turning into the original planned path of the CP motion when the end effector moves to the turning point. The trajectories of two successive CP motions of the end effector intersect at a midpoint. In this embodiment, the first planning motion starts at the turning point and ends at the intermediate point, and the second planning motion starts at the intermediate point and ends at the turning point.
For ease of understanding, referring to fig. 2, fig. 2 shows a planned trajectory AO of a first planned motion, a planned trajectory OB of a second planned motion, and a planned trajectory AB of a transitional motion of the robot, where a is a turning point, O is a middle point, and B is a turning point. As shown, the front section CP motion of the end effector may further include other portions before point a, and the rear section CP motion of the end effector may further include other portions after point B, without affecting the technical solution of the present application, and therefore, the present application is not limited thereto. If it is determined in the relevant step that the end effector is to follow the planned movement of the transitional movement, the end effector is not to follow the first planned movement and the second planned movement of the end effector, so that the planned trajectory AO of the first planned movement and the planned trajectory OB of the second planned movement of the end effector are shown in dashed lines.
The first and second planning motions of the end effector may be pre-planned, and in step S101, a planning trajectory and a planning pose of the first and second planning motions of the end effector are acquired. The planned trajectory represents the displacement of the end effector versus time and the planned pose represents the pose of the end effector versus time. It can be understood that the relationship between the velocity/acceleration and time of the motion and the relationship between the angular velocity/acceleration and time can be deduced according to the relationship between the displacement and time of the motion and the relationship between the gesture and time.
S102: and determining the planning posture of the transitional movement of the end effector according to the planning posture of the first planning movement of the end effector, the planning posture of the second planning movement at the middle point and the planning posture of the first planning movement, wherein the transitional movement starts from the turning-out point and ends at the turning-in point.
As before, the transition motion starts at the turning-out point and ends at the turning-in point, while the intermediate point is both a point on the first planned motion trajectory and a point on the second planned motion trajectory. To ensure continuity of end effector movement, the planned poses of the first and second planned movements at the intermediate point should be the same, and thus may be collectively referred to as the planned pose at the intermediate point. In step S102, the planning pose of the transitional motion of the end effector is determined using the planning pose of the first planning motion, the planning pose at the intermediate point, and the planning pose of the second planning motion of the end effector, such that the planning pose of the transitional motion is the same at the turning point as the planning pose at the turning point of the first planning motion, is the same at the turning point as the planning pose at the turning point of the second planning motion, and is jointly determined and continuously varied in the intermediate process by the planning pose of the first planning motion, the planning pose of the second planning motion, and the planning pose at the intermediate point. The motion gesture of the end effector may have various expression modes, such as a rotation matrix, euler angles, quaternions, and the like, and in this embodiment, the expression mode of any motion gesture may be used to express the planning gesture of each motion of the end effector and the planning gesture at the middle point.
According to the method and the device, the planning postures of the transitional movement of the end effector are determined by using the planning postures of the first planning movement and the second planning movement of the end effector and the planning postures at the middle point, so that the obtained angular speed in the planning of the transitional movement of the end effector is continuous, and the occurrence of angular speed jump of the transitional movement of the end effector is prevented. Thus, the present application facilitates motion control of robots.
In some embodiments, the duration of the first planning motion is the same as the duration of the second planning motion. Taking fig. 2 as an example, the end effector moves from point a to point O according to the original plan for the same length of time as it moves from point O to point B according to the original plan. In other words, when planning the transitional movement of the end effector, two parts with the same duration can be selected from the two continuous CP movements of the end effector as the first planning movement and the second planning movement, respectively. The specific values of the durations of the first planning motion, the second planning motion and the transition motion may be reasonably determined according to specific equipment parameters and user needs, and are not limited herein.
Referring to fig. 3, fig. 3 is a flow chart of another embodiment of a motion control method of the robot of the present application. As shown, the method includes:
s201: a planned trajectory and a pose rotation matrix of a first planned motion and a second planned motion of an end effector are acquired.
In this embodiment, the motion profile of the end effector may be expressed in terms of a rotation matrix. A planned trajectory and a gesture rotation matrix of the first planned movement and the second planned movement of the end effector are thus acquired in step S201. The gesture rotation matrix, that is, the planned gesture of the end effector expressed in the form of a rotation matrix, may be used to represent a time-varying relationship of the gesture of the end effector during movement or the gesture of the end effector at some points during movement, depending on the specific form. Those skilled in the art will appreciate that the planned pose is not exactly equal to the actual pose due to the subsequent interpolation process and the existence of systematic errors, which may be understood as the desired value of the end effector pose. Where the rotation matrix is denoted Q and may be a 3*3 matrix.
In step S201, a gesture rotation matrix Qc (t) of a first planning motion and a gesture rotation matrix Qn (t) of a second planning motion of the end effector may be first acquired. Wherein t has a value of t0 to t1, t0 may represent a start time of the movement, and t1 may represent an end time of the movement. Since the intermediate point is the end point of the first planning motion and the start point of the second planning motion, the pose rotation matrix of the end effector at the intermediate point can be calculated by:
Qo＝Qc(t1)＝Qn(t0)
in addition, a gesture rotation matrix Qc (t 0) of the end effector at the start point (i.e., the turn-out point) of the first planning motion and a gesture rotation matrix Qn (t 1) at the end point (i.e., the turn-in point) of the second planning motion may also be obtained.
S202: the method further includes determining a transitional motion of the end effector based on the gesture rotation matrix of the first planned motion of the end effector, the gesture rotation matrix at the intermediate point, and the planning rotation matrix of the second planned motion.
In step S202, the gesture rotation matrix of the end effector during the transitional motion is determined using the gesture rotation matrix of the first planned motion, the gesture rotation matrix of the second planned motion, and the gesture rotation matrix of the end effector, such that the gesture rotation matrix of the transitional motion is identical at the start point (i.e., at the turning point) to the gesture rotation matrix of the first planned motion, and is identical at the end point (i.e., at the turning point) to the gesture rotation matrix of the second planned motion, and the gesture rotation matrix of the intermediate process is jointly determined and continuously varied by the gesture rotation matrix of the first planned motion, the gesture rotation matrix of the second planned motion, and the gesture rotation matrix at the intermediate point.
Specifically, the gesture rotation matrix of the transitional motion of the end effector is denoted as Q (t). Wherein the value of t is t0 to t1, t0 represents the starting moment of the transitional movement and t1 represents the ending moment of the transitional movement. This allows the calculation of the pose rotation matrix for the transitional motion of the end effector by the following formula:
Q(t)＝Qn(t)*Qo -1 *Qc(t)
the transition motion of the end effector at the starting point t=t0 can be calculated according to the above formula, and the gesture rotation matrix Q (t 0) =qc (t 0) of the transition motion of the end effector at the starting point, that is, the gesture rotation matrix Q (t 0) of the transition motion of the end effector at the starting point is equal to the gesture rotation matrix Qc (t 0) of the original first planning motion at the turning point. The transition motion of the end effector at the end point t=t1 can be calculated according to the above equation, and the gesture rotation matrix Q (t 1) =qn (t 1) of the transition motion of the end effector at the end point, that is, the gesture rotation matrix Q (t 1) of the transition motion of the end effector at the end point is equal to the gesture rotation matrix Qn (t 1) of the original second planning motion at the turning point. In addition, both Qc (t) and Qn (t) are the gesture rotation matrix functions present in the original plan and are continuous (second order derivative) in the original plan, and thus the gesture rotation matrix Q (t) of the transitional motion is also continuous.
According to the method, the gesture rotation matrix of the transitional motion of the end effector is determined, so that the obtained planned gesture rotation matrix of the transitional motion is continuous in change (namely, the angular speed is continuous), the transitional motion of the end effector is prevented from generating angular speed jump, and the stability and the efficiency of the motion control of the robot are improved.
Referring to fig. 4, fig. 4 is a flow chart of another embodiment of a motion control method of the robot of the present application. As shown, the method includes:
s301: a planned trajectory and a planned pose of a first planned motion and a second planned motion of the end effector are obtained, wherein the first planned motion starts at a turning-out point and ends at an intermediate point, and the second planned motion starts at the intermediate point and ends at a turning-in point.
S302: and determining the planning posture of the transitional movement of the end effector according to the planning posture of the first planning movement of the end effector, the planning posture of the second planning movement at the middle point and the planning posture of the first planning movement, wherein the transitional movement starts from the turning-out point and ends at the turning-in point.
Steps S301 and S302 may be similar to steps S101 and S102 or steps S201 and S202 in the foregoing embodiments, and will not be described here again.
S303: the planned trajectory of the transitional motion of the end effector is determined from the planned trajectory of the first planned motion of the end effector, the position of the intermediate point, and the planned trajectory of the second planned motion.
In some embodiments, in addition to determining the planned pose of the transitional motion of the end effector, the planned trajectory of the transitional motion of the end effector may be determined from the planned trajectory of the first planned motion of the end effector, the position of the intermediate point, and the planned trajectory of the second planned motion.
For example, the motion displacement of the first planning motion and the second planning motion may be added to synthesize a trajectory of the transitional motion according to space vector theory. The specific formula is as follows:
P(t)-Po＝Pc(t)-Po+Pn(t)-Po
wherein, the value of t is t0 to t1;
po is the position of the intermediate point;
p (t) is the position of the planned track of the transitional motion of the end effector corresponding to each moment;
pc (t) is a position of a planned trajectory of the first planned movement of the end effector corresponding to each moment;
pn (t) is the position of the planned trajectory of the second planned movement of the end effector corresponding at each moment.
It follows that Pc (t 0) is the position of the turning point, pc (t 1) and Pn (t 0) are the positions of the intermediate points, and Pn (t 1) is the position of the turning point.
Since the first planning motion, the second planning motion, and the transition motion of the end effector are all the same in duration (in this embodiment, equal to t1-t0, t0 may represent the starting times of these motions and t1 may represent the ending times of these motions:
Po＝Pc(t1)＝Pn(t0)
further, it can be calculated according to the formula that, at t=t0, the planned position P (t 0) =pc (t 0) of the start point of the transitional movement of the end effector, i.e. the same position at the turning-out point as the first planned movement of the end effector. Whereas at t=t1, the planned position P (t 1) =pn (t 1) of the end point of the transitional movement of the end effector, i.e. the same position at the turning point as the second planned movement of the end effector. Furthermore, pc (t) and Pn (t) are both position functions present in the original plan and are continuous (second order derivative) in the original plan, and thus the position functions P (t) of the transitional motion are also continuous.
According to the method, the positions of the transition movement of the end effector at different moments are determined, so that the planned position change of the transition movement is continuous (namely, the speed is continuous), and the transition movement of the end effector is prevented from speed jump. Therefore, the present embodiment is advantageous for motion control of the robot.
S304: and interpolating the position and the posture of each moment of the actual movement of the end effector according to the planned track and the planned posture of the transitional movement of the end effector.
After determining the planned trajectory and planned pose of the transitional motion of the end effector in the foregoing steps, the position and pose of the end effector at each moment of the actual motion may be interpolated. The interpolation process is based on planning, and calculates a plurality of intermediate points of the end effector movement process, so as to control the movement of the end effector in each step. For example, in some examples, the planned trajectory of the transitional motion is a smooth curve, but the actual motion of the end effector is a combination of multiple fold segments proximate to the curve, where the motion of each segment is calculated by interpolation. The interpolation of the pose of the end effector is similar to that, namely, the interpolation calculation is performed on the pose of each moment in the actual motion of the end effector according to the planned pose function of the transitional motion of the end effector. The interpolation interval can be selected according to actual needs, and is not limited herein.
S305: and controlling a driving mechanism of the robot to act according to the interpolation result, so that the end effector moves according to the planning track and the planning gesture of the transitional movement.
The entire planning, interpolation and execution of two successive straight line motions of the transition end effector using the transition motion is completed.
Alternatively, the first planning motion of the end effector of any of the foregoing embodiments may be a deceleration motion, and the turning point is a deceleration starting point of the first planning motion, and the intermediate point is a deceleration completion point of the first planning motion. The second planning motion of the end effector may be an acceleration motion, and the intermediate point is an acceleration start point of the second planning motion and the turn-in point is an acceleration completion point of the second planning motion. Still referring to fig. 2, according to the original plan, the end effector should gradually decelerate to zero at the AO segment and gradually accelerate at the OB segment until the acceleration at the B point is completed. In other words, when the first planning motion and the second planning motion are selected from the two continuous motions originally planned by the end effector, a deceleration segment in the front-stage CP motion and an acceleration segment in the rear-stage CP motion may be selected as the first planning motion and the second planning motion, respectively, so that the deceleration segment and the acceleration segment are replaced by a transitional motion to connect other parts of the front-stage CP motion and the rear-stage CP motion. Thus, repeated start and stop of the driving mechanism are avoided, and the service life of the robot is prolonged.
Referring to fig. 5, fig. 5 is a flow chart of a motion control method of a robot according to another embodiment of the present application. As shown, the method includes:
s401: a planned trajectory and a planned pose of a first planned motion and a second planned motion of the end effector are obtained, wherein the first planned motion is ending at an intermediate point with respect to the turning point, and the second planned motion is ending at the turning point with respect to the intermediate point.
S402: a planned trajectory and a planned pose of a transitional motion of the end effector are determined, the transitional motion beginning at the turning point and ending at the turning point. Wherein the planning pose of the transitional motion of the end effector is determined from the planning pose of the first planning motion, the planning pose at the intermediate point, and the planning pose of the second planning motion of the end effector.
The method for determining the planning posture of the transitional motion in this embodiment can refer to the method of any of the foregoing embodiments, and will not be described herein. While the planned trajectory of the transitional motion of the end effector may employ any trajectory planning method known to those skilled in the art.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an embodiment of a motion control system for a robot according to the present invention. The robot motion control system 500 includes a communication bus 501, a controller 502, and a memory 503. The controller 502 and the memory 503 are coupled by a communication bus 501.
The memory 503 stores therein program data that can be loaded by the controller 502 and execute the motion control method of the robot in any of the above embodiments. It will be appreciated that in other embodiments, the memory 503 may not be located in the same physical device as the controller 502, but rather the method of any of the embodiments described above may be performed by incorporating the robotic motion control system 500 into a network.
The robot motion control system 500 may be a control system built in the robot or a control system on an external device connected to or communicating with the robot.
The functions described in the above embodiments may be stored in a device having a storage function if implemented in software and sold or used as a separate product, i.e., the present invention also provides a storage device in which a program is stored. Program data in a storage device including, but not limited to, a usb disk, an optical disk, a server, a hard disk, or the like can be executed to implement the motion control method of the robot in the above-described embodiments.
The foregoing description is only of embodiments of the present invention, and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present invention or directly or indirectly applied to other related technical fields are included in the scope of the present invention.
Claims (9)
1. A method of controlling movement of a robot, comprising:
acquiring a planning track and a planning gesture of a first planning motion and a second planning motion of an end effector of the robot, wherein the first planning motion starts from a turning point and ends at a middle point, and the second planning motion starts from the middle point and ends at a turning point; and
determining a planning gesture of transition motion of the robot end effector according to the planning gesture of the first planning motion, the planning gesture at the middle point and the planning gesture of the second planning motion, wherein the transition motion starts from the turning-out point and ends at the turning-in point;
determining a planned trajectory of the transitional motion of the robotic end effector from a planned trajectory of the first planned motion of the robotic end effector, a position of the intermediate point, and a planned trajectory of the second planned motion of the robotic end effector;
wherein the duration of the first planning motion is the same as the duration of the second planning motion, the first planning motion is a deceleration motion, the turning point is a deceleration starting point of the first planning motion, and the intermediate point is a deceleration completion point of the first planning motion; and the second planning motion is an acceleration motion, and the intermediate point is an acceleration start point of the second planning motion, and the turning point is an acceleration finish point of the second planning motion;
calculating a planned trajectory of the transitional motion of the robotic end effector by:
wherein, the value of t is t0 to t1;
the position corresponding to each moment of the planned track of the transition motion of the robot end effector is provided;
po is the position of the intermediate point;
the position corresponding to each moment of a planning track of the first planning motion of the robot end effector is provided;
the second gauge being the robotic end effectorThe planned track of the scribing movement corresponds to the position at each moment; and is also provided with
And->For the position of the turning point, +.>And->Equal to the position of the intermediate point +.>，And->For the position of the turning point, at t=t0, the planned position P (t 0) =pc (t 0) of the start point of the transitional movement of the end effector; at t=t1, the planned position P (t 1) =pn (t 1) of the end point of the transitional movement of the end effector.
2. The method of motion control of a robot of claim 1, wherein the step of determining a planned pose of transitional motion of the robotic end effector comprises:
and determining the gesture rotation matrix of the transitional motion of the robot end effector according to the gesture rotation matrix of the first planning motion, the gesture rotation matrix at the middle point and the gesture rotation matrix of the second planning motion of the robot end effector.
3. The method of motion control of a robot of claim 2, wherein the pose rotation matrix of the transitional motion of the robot end effector is calculated by the following formula:
wherein, the value of t is t0 to t1;
a gesture rotation matrix for each moment of the transition motion of the robot end effector;
qo is the gesture rotation matrix of the robot end effector at the intermediate point;
a gesture rotation matrix for each moment of the first planning motion of the robot end effector;
a gesture rotation matrix for each moment of the second planning motion of the robotic end effector; and is also provided with
And->For the gesture rotation matrix of the robot end effector at the turning point, +.>Andan attitude rotation matrix equal to the robot end effector at the intermediate point +.>，/>And->A matrix is rotated for the pose of the robotic end effector at the point of introduction.
4. The method for controlling movement of a robot according to claim 1, further comprising:
according to the planned track and the planned gesture of the transitional motion of the robot end effector, interpolating the position and the gesture of the actual motion of the robot end effector at each moment;
and controlling a driving mechanism of the robot end effector to act according to the interpolation result, so that the robot end effector moves according to the planning track and the planning gesture of the transitional movement.
5. A robot control system comprising a processor, the processor being operable to load program instructions and execute a method of controlling movement of a robot, the method comprising:
acquiring a planning track and a planning gesture of a first planning motion and a second planning motion of the robot end effector, wherein the first planning motion starts from a turning point and ends at an intermediate point, and the second planning motion starts from the intermediate point and ends at a turning point; and
determining a planning pose of a transitional motion of the robot end effector according to the planning pose of the first planning motion, the planning pose at the middle point and the planning pose of the second planning motion of the robot end effector, wherein the transitional motion starts at the turning-out point and ends at the turning-in point;
determining a planned trajectory of the transitional motion of the robot according to a planned trajectory of the first planned motion of the robot end effector, a position of the intermediate point, and a planned trajectory of the second planned motion of the robot end effector;
wherein the duration of the first planning motion is the same as the duration of the second planning motion, the first planning motion is a deceleration motion, the turning point is a deceleration starting point of the first planning motion, and the intermediate point is a deceleration completion point of the first planning motion; and the second planning motion is an acceleration motion, and the intermediate point is an acceleration start point of the second planning motion, and the turning point is an acceleration finish point of the second planning motion;
calculating a planned trajectory of the transitional motion of the robotic end effector by:
wherein, the value of t is t0 to t1;
the position corresponding to each moment of the planned track of the transition motion of the robot end effector is provided;
po is the position of the intermediate point;
the position corresponding to each moment of a planning track of the first planning motion of the robot end effector is provided;
the position corresponding to each moment of the planned track of the second planned motion of the robot end effector is provided; and is also provided with
And->For the position of the turning point, +.>And->Is equal to the position Po of said intermediate point,and->For the position of the turning point, at t=t0, the planned position P (t 0) =pc (t 0) of the start point of the transitional movement of the end effector; at t=t1, the planned position P (t 1) =pn (t 1) of the end point of the transitional movement of the end effector.
6. The robotic control system of claim 5, wherein the step of determining a planned pose of a transitional motion of the robotic end effector comprises:
and determining the gesture rotation matrix of the transitional motion of the robot end effector according to the gesture rotation matrix of the first planning motion, the gesture rotation matrix at the middle point and the gesture rotation matrix of the second planning motion of the robot end effector.
7. The robotic control system of claim 6, wherein the pose rotation matrix of the transitional motion of the robotic end effector is calculated by the following formula:
wherein, the value of t is t0 to t1;
a gesture rotation matrix for each moment of the transition motion of the robot end effector;
qo is the gesture rotation matrix of the robot end effector at the intermediate point;
a gesture rotation matrix for each moment of the first planning motion of the robot end effector;
a gesture rotation matrix for each moment of the second planning motion of the robotic end effector; and is also provided with
And->For the gesture rotation matrix of the robot end effector at the turning point, +.>Andequaling the attitude rotation matrix Qo, ++of the robot at the intermediate point>And->A matrix is rotated for the pose of the robot at the point of inflection.
8. The robot control system of claim 5, wherein the robot motion control method further comprises:
according to the planned track and the planned gesture of the transitional motion of the robot end effector, interpolating the position and the gesture of the actual motion of the robot end effector at each moment;
and controlling a driving mechanism of the robot end effector to act according to the interpolation result, so that the robot end effector moves according to the planning track and the planning gesture of the transitional movement.
9. A device with a memory function, characterized in that program instructions are stored, which program instructions can be loaded and which perform a method of controlling the movement of a robot according to any one of claims 1-4.
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