CN117260738A - Robot control method, device, equipment and storage medium - Google Patents
Robot control method, device, equipment and storage medium 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention discloses a robot control method, a device, equipment and a storage medium. The method comprises the following steps: in the running process of the robot, responding to an update request of the running parameters of the robot, and acquiring the update running parameters of the robot; determining a motion stage of the robot according to the current motion information of the robot and the updated operation parameters; the motion stage is a pre-deceleration stage or a deceleration stage; if the motion phase is a deceleration phase, determining predicted motion information according to the current motion information and the updated operation parameters, and controlling the robot to operate based on the predicted motion information. According to the technical scheme, the updated operation parameters and the current motion information of the robot can be analyzed in the operation process of the robot, so that accurate and effective track planning is performed on the robot, and the robot is controlled to change the motion state in time.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a method, apparatus, device, and storage medium for controlling a robot.
Background
In practical production and application of robots, a trapezoidal planning is generally used in a speed planning algorithm, but the trapezoidal planning is large in impact during start and stop, noise is generated, and the service life of the robots is inevitably reduced. The S-shaped speed planning can greatly reduce the impact during start and stop, and is widely applied, but the traditional offline S-shaped speed planning cannot change the motion state of the robot in real time in the planning process, and cannot meet the increasingly complex production and processing requirements.
Therefore, how to analyze the updated operation parameters and the current motion information of the robot during the operation of the robot so as to accurately and effectively plan the track of the robot and control the robot to change the motion state in time is a current urgent problem to be solved.
Disclosure of Invention
The invention provides a robot control method, a device, equipment and a storage medium, which can control a robot to change a motion state in time.
According to an aspect of the present invention, there is provided a robot control method including
In the running process of the robot, responding to an update request of the running parameters of the robot, and acquiring the update running parameters of the robot;
Determining a motion stage of the robot according to the current motion information of the robot and the updated operation parameters; the motion stage is a pre-deceleration stage or a deceleration stage;
if the motion phase is a deceleration phase, determining predicted motion information according to the current motion information and the updated operation parameters, and controlling the robot to operate based on the predicted motion information.
According to another aspect of the present invention, there is provided a robot control device including:
the acquisition module is used for responding to the update request of the robot operation parameters in the process of robot operation to acquire the update operation parameters of the robot;
the determining module is used for determining the motion stage of the robot according to the current motion information of the robot and the updated operation parameters; the motion stage is a pre-deceleration stage or a deceleration stage;
and the control module is used for determining predicted motion information according to the current motion information and the updated operation parameters if the motion stage is a deceleration stage and controlling the robot to operate based on the predicted motion information.
According to another aspect of the present invention, there is provided an electronic apparatus including:
At least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the robot control method according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute the robot control method according to any one of the embodiments of the present invention.
According to the technical scheme, in the running process of the robot, the updating running parameters of the robot are obtained in response to the updating request of the running parameters of the robot; determining a motion stage of the robot according to the current motion information of the robot and updated operation parameters; if the motion stage is a deceleration stage, determining predicted motion information according to the current motion information and the updated operation parameters, and controlling the robot to operate based on the predicted motion information. The updated operation parameters and the current motion information of the robot are analyzed in the operation process of the robot, so that accurate and effective track planning can be performed on the robot, the robot is controlled to change the motion state in time, and meanwhile, the online control of the robot under the complex working condition with high real-time requirements is facilitated.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a robot control method according to an embodiment of the present invention;
fig. 2 is a flowchart of a robot control method according to a second embodiment of the present invention;
fig. 3 is a flowchart of a robot control method according to a second embodiment of the present invention;
fig. 4 is a block diagram of a robot control device according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," "target," "candidate," "alternative," and the like in the description and claims of the invention and in the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a robot control method according to a first embodiment of the present invention, where the method is applicable to a situation that a robot is controlled to change its state in time according to an update request and current motion information during operation of the robot, and the method may be performed by a robot control device, where the device may be implemented in a software and/or hardware manner, and may be integrated into an electronic device having a robot control function, such as a robot. As shown in fig. 1, the method includes:
S101, in the running process of the robot, responding to an update request of the running parameters of the robot, and acquiring the updated running parameters of the robot.
The update request refers to a request for correcting an operation parameter in the operation process of the robot, the operation parameter of the robot may include, for example, target start-stop information and kinematic constraint information of the robot, the target start-stop information may be information representing a desired motion state of the robot when the robot operates to a corresponding start-end position, and the target start-stop information may include a target start-end position of the robot, and a speed and an acceleration at the target start-end position. The kinematic constraint information refers to constraint information of speed, acceleration and jerk in the running process of the robot.
Optionally, in the running process of the robot, the user can send out a change instruction for modifying the target end position of the robot or adjusting the kinematic parameter in real time, and the robot can receive the change instruction sent by the user in real time, so that the robot can consider that an update request for the running parameter of the robot is detected; the method can also automatically generate an instruction for changing the robot operation parameters, namely detecting the update request of the robot operation parameters, when the robot is operated to a preset position or the acceleration of the movement speed exceeds a preset threshold value based on a preset rule.
Optionally, in response to an update request for the robot operation parameter, the update request may be parsed to obtain the updated operation parameter of the robot, for example, the kinematic constraint information may be updated to change the speed and acceleration limitation in the kinematic constraint information of the robot in real time, so as to implement functions of suspension, recovery, stop, and the like of the robot.
S102, determining the motion stage of the robot according to the current motion information of the robot and updated operation parameters.
The current motion information refers to information representing the motion state of the robot at the current moment. The current motion information may be, for example, the current speed, acceleration, displacement or position of the robot, etc. The robot motion stage refers to a stage of representing the current moment of the robot in the planning travelling process. The motion phase is a pre-deceleration phase or a deceleration phase. The motion stages that the robot will experience in the process of moving from the starting position to the end position are a pre-deceleration stage and a deceleration stage.
Optionally, the current motion information and the updated operation parameters can be compared based on a preset rule, and the current motion stage of the robot is analyzed and determined according to the comparison result; the current motion information and the updated operation parameters can be substituted into a preset calculation formula, and the current motion stage of the robot is determined according to the magnitude relation between the formula result and the expected result.
And S103, if the motion stage is a deceleration stage, determining predicted motion information according to the current motion information and updated operation parameters, and controlling the robot to operate based on the predicted motion information.
The predicted motion information may be motion information of the predicted robot at the next moment, and the predicted motion information may include a predicted speed, a predicted acceleration, and a predicted displacement.
Optionally, the current motion information and the updated operation parameters may be analyzed based on a preset rule, the jerk of the robot in the deceleration stage is predicted, the acceleration, the speed and the displacement of the robot at the next moment are further predicted according to the association relationship between the preset jerk and the predicted motion information, the predicted motion information is obtained, the acceleration, the speed and the displacement of the robot at each subsequent moment are further iteratively predicted according to the acceleration, the speed and the displacement at the next moment, so as to generate a planning curve, and the operation of the robot is controlled according to the planning curve.
Alternatively, the robot may be controlled to operate according to the predicted motion information until the robot reaches the target end position in the target start-stop information.
Optionally, if the motion phase is a pre-deceleration phase, the jerk value of each sub-phase of the pre-deceleration phase may be determined directly according to the rule of the speed S curve, where the sub-phases included in the pre-deceleration phase may be a jerk phase, a uniform acceleration phase, a deceleration phase, and a uniform velocity phase, and exemplary, the jerk value of the jerk phase may be directly determined to be the maximum jerk in the kinematic constraint information, the jerk value of the uniform acceleration phase is 0, the jerk value of the deceleration phase is the minimum jerk in the kinematic constraint information, and the jerk value of the uniform velocity phase is 0.
Further, after the jerk values of the sub-stages of the pre-deceleration stage are determined, the acceleration value of the robot at the next moment can be predicted and determined according to the determined jerk values, the speed of the robot at the next moment is predicted and determined according to the acceleration values, and finally the displacement of the robot at the next moment is predicted and determined according to the speed values, so that the robot is controlled to run to the target end point position in an iterative manner.
According to the technical scheme, in the running process of the robot, the updating running parameters of the robot are obtained in response to the updating request of the running parameters of the robot; determining a motion stage of the robot according to the current motion information of the robot and updated operation parameters; if the motion stage is a deceleration stage, determining predicted motion information according to the current motion information and the updated operation parameters, and controlling the robot to operate based on the predicted motion information. The updated operation parameters and the current motion information of the robot are analyzed in the operation process of the robot, so that accurate and effective track planning can be performed on the robot, the robot is controlled to change the motion state in time, and meanwhile, the online control of the robot under the complex working condition with high real-time requirements is facilitated.
Example two
Fig. 2 is a flowchart of a robot control method according to a second embodiment of the present invention; the embodiment further explains in detail "determining a motion phase of the robot according to current motion information of the robot and updating operation parameters" based on the above embodiment, as shown in fig. 2, the method includes:
s201, in the running process of the robot, responding to an update request of the running parameters of the robot, and acquiring the updated running parameters of the robot.
S202, determining the motion stage of the robot according to the association relation between the current motion information of the robot and the motion constraint information in the updated operation parameters.
The current motion information may include, among other things, a current speed and a current acceleration of the robot. The kinematic constraint information may include a maximum velocity V max Minimum velocity V min Maximum acceleration A max Minimum acceleration A min Maximum jerk J max And minimum jerk J min . The sub-phases included in the pre-deceleration phase may be an acceleration phase, a uniform acceleration phase, a deceleration phase, and a uniform velocity phase.
Optionally, determining the motion phase of the robot includes: determining the ratio of the square value of the current acceleration to the minimum jerk of the preset multiple, and determining the difference value of the current speed and the ratio; if the difference is smaller than the maximum speed and the current acceleration is smaller than the maximum acceleration, determining that the movement stage of the robot is a pre-deceleration stage.
For example, if the current motion information and the kinematic constraint information satisfy the following formulas, it may be determined that the motion phase in which the robot is located is an acceleration phase in the sub-phases of the pre-deceleration phase:
for example, if the current motion information and the kinematic constraint information satisfy the following formulas, it may be determined that the motion phase in which the robot is located is a uniform acceleration phase in the sub-phases of the pre-deceleration phase:
for example, if the current motion information and the kinematic constraint information satisfy the following formulas, it may be determined that the motion phase in which the robot is located is a deceleration-acceleration phase in the sub-phases of the pre-deceleration phase:
for example, if the current motion information and the kinematic constraint information satisfy the following formulas, it may be determined that the motion phase in which the robot is located is a constant speed phase in the sub-phases of the pre-deceleration phase:
wherein the current speed is v k The current acceleration is a k Minimum jerk of J min Maximum speed of V max Maximum acceleration is A max 。
Alternatively, based on the above formula, when it is determined that the current stage does not belong to any sub-stage of the pre-deceleration stage, it may be determined that the current motion stage is the deceleration stage.
And S203, if the motion stage is a deceleration stage, determining predicted motion information according to the current motion information and updated operation parameters, and controlling the robot to operate based on the predicted motion information.
According to the technical scheme, the motion stage of the robot can be determined according to the association relation between the current motion information of the robot and the motion constraint information in the updated operation parameters, the motion stage corresponding to the condition that the current motion information and the motion constraint information are different in relation is provided, the motion stage of the robot can be accurately determined, the motion information can be accurately predicted, and reasonable and effective prediction motion information can be obtained, so that the operation of the robot can be better controlled.
Example III
Fig. 3 is a flowchart of a robot control method according to a second embodiment of the present invention; the embodiment further explains in detail "determining predicted motion information according to current motion information and updated operation parameters" based on the above embodiment, as shown in fig. 3, the method includes:
s301, in the running process of the robot, responding to an update request of the running parameters of the robot, and acquiring the updated running parameters of the robot.
S302, determining the motion stage of the robot according to the current motion information of the robot and updated operation parameters.
And S303, if the motion phase is a deceleration phase, determining the operation time of each sub-phase of the deceleration phase according to the current motion information, the target start-stop information and the kinematic constraint information in the updated operation parameters.
The target start-stop information may include start point position information and target end point information of the robot. Run time refers to the length of time that the predicted robot will be in each deceleration stage sub-stage. For example, the target start-stop information may be the start-end position (s 0 ,s 1 ) Speed (v) 0 ,v 1 ) Acceleration (a) 0 ,a 1 )。
Optionally, the sub-phase of the deceleration phase comprises at least one of: acceleration and deceleration stage, uniform deceleration stage and deceleration stage.
Correspondingly, determining the running time of each sub-phase of the deceleration phase comprises: determining a first running time of an acceleration and deceleration stage according to the maximum acceleration and the minimum jerk in the kinematic constraint information and the current acceleration in the current motion information; determining a second running time of the deceleration stage according to the minimum acceleration and the maximum jerk in the kinematic constraint information and the final acceleration in the target start-stop information; and determining a third operation time of the deceleration stage according to the first operation time, the second operation time, the current motion information and the updated operation parameters, and determining a fourth operation time of the uniform deceleration stage according to the first operation time, the second operation time and the third operation time.
The first operation time refers to the operation time of the robot in the acceleration and deceleration stage. The second operation time refers to the time that the robot is operated in the deceleration stage. The third running time refers to the total time for the robot to stop running in the deceleration stage, and the fourth running time refers to the running time of the robot in the uniform deceleration stage. The fourth run time may or may not be 0. The third run time is equal to a sum of the first run time, the second run time, and the fourth run time.
For example, the first run times T may be determined based on the following formulas, respectively 1 Second run time T 3 And a third run time T d ：
Wherein the minimum acceleration is A min Minimum jerk of J min The current acceleration is a k The final acceleration in the target start-stop information is a 1 Maximum jerk of J max The final speed in the target start-stop information is v 1 The current speed is v k 。
Optionally, determining the first runtime T 1 Second run time T 3 And a third run time T d Thereafter, it may be determined whether the sum of the first and second run times is less than the third run time, i.e., T d >T 1 +T 3 If yes, determining that a uniform deceleration stage exists in the sub-stages of the deceleration stage, and further directly subtracting the first running time and the second running time from the third running time to obtain a difference value serving as a fourth running time of the uniform deceleration stage.
Alternatively, if the sum of the first and second operation times is greater than the third operation time, that is, there is no uniform deceleration phase in the sub-phase of the deceleration phase, and the fourth operation time is 0, the first operation time T may be updated based on the following formula 1 Second run time T 3 And a third run time T d Is the value of (1):
wherein the current acceleration is a k Minimum jerk of J min Maximum jerk of J max The final acceleration in the target start-stop information is a 1 The final speed in the target start-stop information is v 1 The current speed is v k 。
S304, determining the jerk of the robot in each sub-stage of the deceleration stage according to the running time, and predicting the motion condition of the robot at the next moment according to the jerk to obtain predicted motion information.
Alternatively, according to the running time, the jerk of the robot at each sub-stage of the deceleration stage may be determined based on the following formula:
where k refers to the moment when the robot enters the deceleration phase. k is the predicted time, the first run time is T 1 The second running time is T 3 And a third run time of T d 。T s For a preset sampling period, the minimum jerk is j min Maximum jerk of j max 。
Optionally, before controlling the robot to operate based on the predicted motion information, the method further includes: determining a stopping distance of the deceleration stage according to the current motion information, the updated operation parameters and the operation time of the deceleration stage; determining a target end position s in the updated operating parameters based on the predicted motion information 1 With the current position s of the robot k A separation distance therebetween; and verifying whether the robot is in a deceleration stage according to the magnitude relation between the stopping distance and the interval distance.
For example, the stopping distance S of the deceleration stage can be determined based on the following formula d ：
Wherein the current acceleration is a k The third running time is T d The first running time is T 1 Minimum jerk of J min Maximum jerk of J max The current speed is v k 。
Further, if the distance between the target end position and the current position of the robot can be expressed as s 1 -s k Then when s 1 -s k ≥S d If satisfied, the robot is considered to be still in the pre-deceleration stage. Specifically, when s 1 -s k ≥S d When satisfied, because s 1 -s k Is used for representing how far the current distance of the robot is from the end point, S d Is the length of the deceleration phase, so if s 1 -s k ≥S d It is explained that the robot has not yet reached the deceleration stage, i.e. is in the pre-deceleration stage.
Alternatively, s can be 1 -s k ＝S d The corresponding moment, i.e. the moment when the stopping distance and the spacing distance are equal, is determined as moment k when the robot enters the deceleration stage.
Optionally, predicting the motion condition of the robot at the next moment according to the jerk to obtain predicted motion information, including: predicting the predicted acceleration of the next moment according to the jerk of the robot in each sub-stage of the deceleration stage, the preset sampling period, the acceleration of the last moment and the jerk of the last moment; predicting to obtain the predicted speed of the next moment according to the predicted acceleration, the jerk and the speed of the last moment and a preset sampling period; predicting to obtain the predicted displacement at the next moment according to the predicted speed, the speed and the displacement at the last moment and the preset sampling period; and determining the predicted motion information according to the predicted acceleration, the predicted speed and the predicted displacement.
The predicted acceleration a may be obtained, for example, based on the following iterative formula k Predicted speed v k Predicted displacement s k ：
Wherein T is s For a preset sampling period, the acceleration at the previous moment is a k-1 The jerk at the previous moment is j k-1 The jerk of the robot in each sub-stage of the deceleration stage is j k The speed at the last moment is v k-1 The displacement at the last moment is s k-1 。
Alternatively, consider the sampling period T s Possibly resulting in accumulated errors, and thus a multi-segment subdivision error processing method may be employed:
wherein T is s * Refers to the subdivided sampling period. N refers to a pre-specified number of subdivisions.
Optionally, the user can select reasonable subdivision times according to the requirement, and the robot subdivides N times under the original sampling period, so that the calculation period is shortened, and the calculation accuracy is improved.
S305, controlling the robot to run based on the predicted motion information.
According to the technical scheme, specific embodiments of determining the running time of each sub-stage of the deceleration stage, determining the jerk and the predicted motion information of each sub-stage are provided, and the accurate running time and jerk of each sub-stage of the deceleration stage can be determined, so that the predicted motion information of the robot in the future can be accurately predicted, the robot can be better controlled to run to the corresponding target end position under the condition of meeting the update request, and the accurate control of the robot is realized.
Preferably, if the updated operating parameters are entered, i.e. the robot head-to-tail state and kinematic constraints are as follows: s is(s) 0 ＝0；s 1 ＝922.121；v 0 ＝0；v 1 ＝0；a 0 ＝0；a 1 ＝0；V max ＝1000；A max ＝2000；J max =5000; and the sampling period Ts of the robot is 8ms, the jerk values of the sub-phases of the pre-deceleration phase, i.e., the jerk segment J, can be determined based on the method described in step S103 max The uniform acceleration section is 0, and the minus acceleration section is J min The jerk value at the constant velocity stage is 0.
Alternatively, if the acceleration is in the pre-deceleration stage, the acceleration a at the time k may be calculated directly from the determined jerk by using the following formula k Velocity v k And displacement s k Is a value of (2).
Wherein T is s For a preset sampling period, the acceleration at the previous moment is a k-1 The jerk at the previous moment is j k-1 The jerk of the robot in each sub-stage of the deceleration stage is j k The speed at the last moment is v k-1 The displacement at the last moment is s k-1 。
Alternatively, if the deceleration stage is in, the time of each stage when the deceleration is stopped can be calculated, and the trajectory is assumed to be long enough, which is ideal for the constant speed stage. Just start decelerating a k Is 0, v k At maximum value V max If press asThe following formula can calculate T 1 、T d And T 3 Is the value of (1):
wherein the minimum acceleration is A min Minimum jerk of J min The current acceleration is a k The final acceleration in the target start-stop information is a 1 Maximum jerk of J max The final speed in the target start-stop information is v 1 The current speed is v k 。
Specifically T 1 、T d And T 3 The values of (2) are calculated as follows:
alternatively, if T d >T 1 +T 3 There is a uniform deceleration section, T d ＝T 1 +T 2 +T 3 Otherwise, the time of each period of deceleration stop needs to be recalculated, when s 1 -s k ＝S d When the method enters a deceleration section for planning, the acceleration a at the k moment can be calculated in real time according to an integral formula k Velocity v k And displacement s k Until the robot reaches the target end position s 1 And stopping, so as to plan a running track curve of the whole section of the robot.
Example IV
Fig. 4 is a block diagram of a robot control device according to a third embodiment of the present invention; the embodiment is applicable to the situation that the robot is controlled to timely change the state according to the update request and the current motion information in the running process of the robot, and the robot control device can be realized in a hardware and/or software mode and is configured in equipment with a robot control function, such as a robot. As shown in fig. 4, the robot control device specifically includes:
an obtaining module 401, configured to obtain, in response to an update request for a robot operation parameter, an update operation parameter of the robot during operation of the robot;
A determining module 402, configured to determine a motion stage in which the robot is located according to current motion information of the robot and the updated operation parameter; the motion stage is a pre-deceleration stage or a deceleration stage;
and the control module 403 is configured to determine predicted motion information according to the current motion information and the updated operation parameter if the motion phase is a deceleration phase, and control the robot to operate based on the predicted motion information.
According to the technical scheme, in the running process of the robot, the updating running parameters of the robot are obtained in response to the updating request of the running parameters of the robot; determining a motion stage of the robot according to the current motion information of the robot and updated operation parameters; if the motion stage is a deceleration stage, determining predicted motion information according to the current motion information and the updated operation parameters, and controlling the robot to operate based on the predicted motion information. The updated operation parameters and the current motion information of the robot are analyzed in the operation process of the robot, so that accurate and effective track planning can be performed on the robot, the robot is controlled to change the motion state in time, and meanwhile, the online control of the robot under the complex working condition with high real-time requirements is facilitated.
Further, the determining module 402 may include:
the stage determining unit is used for determining the motion stage of the robot according to the association relation between the current motion information of the robot and the motion constraint information in the updated operation parameters; the current motion information comprises a current speed and a current acceleration; the kinematic constraint information includes maximum speed, minimum speed, maximum acceleration, minimum acceleration, maximum jerk, and minimum jerk.
Further, the stage determining unit is specifically configured to:
determining the ratio of the square value of the current acceleration to the minimum jerk of a preset multiple, and determining the difference value of the current speed and the ratio;
if the difference is smaller than the maximum speed and the current acceleration is smaller than the maximum acceleration, determining that the movement stage of the robot is the stage before deceleration.
Further, the control module 403 may include:
the time determining unit is used for determining the running time of each sub-stage of the deceleration stage according to the current motion information, the target start-stop information in the updated running parameters and the kinematic constraint information;
and the obtaining unit is used for determining the jerk of the robot in each sub-stage of the deceleration stage according to the running time, and predicting the motion condition of the robot at the next moment according to the jerk to obtain predicted motion information.
Further, wherein the sub-phase of the deceleration phase comprises at least one of: an acceleration and deceleration stage, a uniform deceleration stage and a deceleration and deceleration stage;
correspondingly, the time determining unit is specifically configured to:
determining a first running time of the acceleration and deceleration stage according to the maximum acceleration and the minimum jerk in the kinematic constraint information and the current acceleration in the current motion information;
determining a second running time of the deceleration stage according to the minimum acceleration and the maximum jerk in the kinematic constraint information and the final acceleration in the target start-stop information;
and determining a third operation time of the deceleration stage according to the first operation time, the second operation time, the current motion information and the updated operation parameters, and determining a fourth operation time of the uniform deceleration stage according to the first operation time, the second operation time and the third operation time.
Further, the unit is specifically for:
predicting the predicted acceleration of the next moment according to the jerk of the robot in each sub-stage of the deceleration stage, the preset sampling period, the acceleration of the last moment and the jerk of the last moment;
Predicting to obtain a predicted speed at the next moment according to the predicted acceleration, the jerk and the speed at the last moment and the preset sampling period;
predicting to obtain the predicted displacement at the next moment according to the predicted speed, the speed and the displacement at the last moment and the preset sampling period;
and determining predicted motion information according to the predicted acceleration, the predicted speed and the predicted displacement.
Further, the device is also used for:
determining a stopping distance of the deceleration stage according to the current motion information, the updated operation parameters and the operation time of the deceleration stage;
determining a spacing distance between a target end position in the updated operation parameters and a current position of the robot based on the predicted motion information;
and verifying whether the robot is in a deceleration stage according to the magnitude relation between the stopping distance and the interval distance.
Example five
Fig. 5 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention. Fig. 5 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the respective methods and processes described above, such as a robot control method.
In some embodiments, the robot control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the robot control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the robot control method by any other suitable means (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A robot control method is characterized by comprising the following steps of
In the running process of the robot, responding to an update request of the running parameters of the robot, and acquiring the update running parameters of the robot;
determining a motion stage of the robot according to the current motion information of the robot and the updated operation parameters; the motion stage is a pre-deceleration stage or a deceleration stage;
if the motion phase is a deceleration phase, determining predicted motion information according to the current motion information and the updated operation parameters, and controlling the robot to operate based on the predicted motion information.
2. The method of claim 1, wherein determining a motion phase in which the robot is located based on current motion information of the robot and the updated operating parameters comprises:
determining a motion stage of the robot according to the association relation between the current motion information of the robot and the kinematic constraint information in the updated operation parameters; the current motion information comprises a current speed and a current acceleration; the kinematic constraint information includes maximum speed, minimum speed, maximum acceleration, minimum acceleration, maximum jerk, and minimum jerk.
3. The method of claim 2, wherein determining the motion phase in which the robot is located comprises:
determining the ratio of the square value of the current acceleration to the minimum jerk of a preset multiple, and determining the difference value of the current speed and the ratio;
if the difference is smaller than the maximum speed and the current acceleration is smaller than the maximum acceleration, determining that the movement stage of the robot is the stage before deceleration.
4. The method of claim 1, wherein determining predicted motion information based on the current motion information and the updated operating parameters comprises:
Determining the running time of each sub-stage of the deceleration stage according to the current motion information, the target start-stop information in the updated running parameters and the kinematic constraint information;
and determining the jerk of the robot in each sub-stage of the deceleration stage according to the running time, and predicting the motion condition of the robot at the next moment according to the jerk to obtain predicted motion information.
5. The method of claim 4, wherein the sub-phase of the deceleration phase comprises at least one of: an acceleration and deceleration stage, a uniform deceleration stage and a deceleration and deceleration stage;
correspondingly, determining the running time of each sub-phase of the deceleration phase comprises:
determining a first running time of the acceleration and deceleration stage according to the maximum acceleration and the minimum jerk in the kinematic constraint information and the current acceleration in the current motion information;
determining a second running time of the deceleration stage according to the minimum acceleration and the maximum jerk in the kinematic constraint information and the final acceleration in the target start-stop information;
and determining a third operation time of the deceleration stage according to the first operation time, the second operation time, the current motion information and the updated operation parameters, and determining a fourth operation time of the uniform deceleration stage according to the first operation time, the second operation time and the third operation time.
6. The method of claim 4, wherein predicting the motion of the robot at the next moment based on the jerk to obtain predicted motion information comprises:
predicting the predicted acceleration of the next moment according to the jerk of the robot in each sub-stage of the deceleration stage, the preset sampling period, the acceleration of the last moment and the jerk of the last moment;
predicting to obtain a predicted speed at the next moment according to the predicted acceleration, the jerk and the speed at the last moment and the preset sampling period;
predicting to obtain the predicted displacement at the next moment according to the predicted speed, the speed and the displacement at the last moment and the preset sampling period;
and determining predicted motion information according to the predicted acceleration, the predicted speed and the predicted displacement.
7. The method of claim 1, wherein prior to controlling the robot operation based on the predicted motion information, further comprising:
determining a stopping distance of the deceleration stage according to the current motion information, the updated operation parameters and the operation time of the deceleration stage;
determining a spacing distance between a target end position in the updated operation parameters and a current position of the robot based on the predicted motion information;
And verifying whether the robot is in a deceleration stage according to the magnitude relation between the stopping distance and the interval distance.
8. A robot control device, comprising:
the acquisition module is used for responding to the update request of the robot operation parameters in the process of robot operation to acquire the update operation parameters of the robot;
the determining module is used for determining the motion stage of the robot according to the current motion information of the robot and the updated operation parameters; the motion stage is a pre-deceleration stage or a deceleration stage;
and the control module is used for determining predicted motion information according to the current motion information and the updated operation parameters if the motion stage is a deceleration stage and controlling the robot to operate based on the predicted motion information.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the robot control method of any one of claims 1-7.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores computer instructions for causing a processor to implement the robot control method of any one of claims 1-7 when executed.
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| CN202311467085.XA CN117260738A (en) | 2023-11-06 | 2023-11-06 | Robot control method, device, equipment and storage medium |
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