WO2018019111A1

WO2018019111A1 - Robot and joint motion control method and device therefor

Info

Publication number: WO2018019111A1
Application number: PCT/CN2017/091971
Authority: WO
Inventors: 刘若鹏; 陈娟
Original assignee: 深圳光启合众科技有限公司
Priority date: 2016-07-29
Filing date: 2017-07-06
Publication date: 2018-02-01
Also published as: CN107662205A

Abstract

A robot, and a joint motion control method and device therefor. The joint motion control method for the robot comprises: acquiring target motion types for a target joint of the robot; said target motion types are destination types of a target joint motion, and said target motion types comprise a point-to-point motion and a continuous motion; according to the target motion types of the target joint, determining a motion trajectory calculation method for the target joint; calculating a motion trajectory of the target joint by using the motion trajectory calculation method; and controlling the target joint to move in accordance with the motion trajectory. By using the present method, the problem in the related art wherein the lack of variation in motion trajectory calculation methods for robot joints has brought about many limitations is solved.

Description

Robot and joint motion control method and device thereof

Technical field

The present invention relates to the field of robots, and in particular to a robot and its joint motion control method and apparatus.

Background technique

The trajectory planning is to find the path function from the motion start position to the target end position according to the robot's own task. In the actual motion control, the displacement angle, velocity and acceleration of the robot's joints constrain the motion process. The goal of the path planning is to make the motion of the robot accurate, stable and impactless.

The motion of the robot can be subdivided into fast motion and slow motion. In slow motion, the path planning is relatively simple, as long as the joint angle of the motion does not exceed the limit, and in the fast motion, because the joint movement is fast, the motion of the robot is required to be continuous, and the speed and acceleration are not allowed to exceed the limit or In the case of a sudden change, if serious conditions can damage the mechanical hardware, causing unnecessary losses.

At present, a single path planning method is adopted for different motions of different robot joints. The existing joint trajectory interpolation methods are: parabolic trajectory planning, cubic polynomial or high-order polynomial, etc.; the two methods can be subdivided into over-path points. And the path point. During the movement of the robot, some joints need to achieve continuous path operation, while some joints are point operations. The simple use of a certain trajectory method to achieve motion must have the following limitations: First, there are many parabolic methods for passing path points. The solution does not constrain the acceleration curve. In actual use, the robot system is susceptible to shock and vibration. Second, the high-order polynomial trajectory fitting can ensure that the velocity and acceleration curves are smooth and continuous, but there are more coefficients to be solved, and the calculation is complicated.

Aiming at the problem of high limitation caused by the single calculation method of the joint motion trajectory of the robot in the related art, an effective solution has not been proposed yet.

Summary of the invention

The main object of the present invention is to provide a robot and an articulation control method and apparatus thereof, which solve the problem of high limitation caused by a single calculation method of the joint motion trajectory of the robot.

In order to achieve the above object, according to an aspect of the present invention, a robot joint motion control method is provided, the method comprising: acquiring a target motion type of a target joint of the robot, wherein the target motion type is a target type of the target joint motion, and the target The motion type includes point motion and continuous motion; the motion trajectory calculation method of the target joint is determined according to the target motion type of the target joint; the target joint is calculated by the motion trajectory calculation method The motion trajectory; and the control target joint moves according to the motion trajectory.

Further, the method for calculating the motion trajectory of the target joint according to the target motion type of the target joint includes: if the target motion type is the point motion, determining the motion trajectory calculation method of the target joint is a parabolic algorithm, and calculating the target joint by the motion trajectory calculation method The motion trajectory includes: fitting the motion trajectory between the start position and the end position by a parabola algorithm, and controlling the movement of the target joint according to the motion trajectory includes: controlling the motion between the start position and the end position of the target joint according to the parabolic algorithm. Trajectory movement.

Further, fitting the motion trajectory between the start position and the end position by the parabola algorithm includes: fitting the first motion trajectory to a parabola, wherein the first motion trajectory is within a first preset time period from the start position, and a motion trajectory in a second preset time period before reaching the end position; fitting the second motion trajectory to a straight line, wherein the second motion trajectory is an end point of the first preset time period and a start point of the second preset time period The trajectory between the two.

Further, the method for calculating the motion trajectory of the target joint according to the target motion type of the target joint includes: if the target motion type is continuous motion, determining the motion trajectory calculation method of the target joint is a high-order polynomial algorithm, and calculating the target by using the motion trajectory calculation method The motion trajectory of the joint includes: a motion trajectory between the start position and the end position is fitted by a high-order polynomial algorithm, wherein the motion track passes through a preset path point between the start position and the end position, and the preset path point is continuous The path point through which the motion passes, controlling the movement of the target joint according to the motion trajectory includes: controlling the motion trajectory movement between the start position and the end position of the target joint fitted according to the high-order polynomial algorithm.

Further, the high order polynomial algorithm is a cubic polynomial algorithm.

Further, the motion trajectory expression of the cubic polynomial algorithm is: θ(t)=a ₀ +a ₁ t+a ₂ t ² +a ₃ t ³ , where a ₀ represents the first coefficient and a ₁ represents the second coefficient a ₂ denotes a third coefficient, a ₃ denotes a fourth coefficient, t denotes time, θ(t) denotes an angle of joint motion, and a motion trajectory calculation method calculates a motion trajectory of the target joint includes: calculating by a preset constraint condition A coefficient, a second coefficient, a third coefficient, and a fourth coefficient calculate a motion trajectory of the target joint by a motion trajectory expression.

Further, the target joint includes a first joint and a second joint, the target motion type of the first joint is a point motion, and the target motion type of the second joint is a continuous motion, and the motion trajectory of the target joint is determined according to the target motion type of the target joint. The calculation method comprises: determining a motion trajectory calculation method of the first joint according to the target motion type of the first joint as a parabolic algorithm, and determining a motion trajectory calculation method of the second joint according to the target motion type of the second joint as a high-order polynomial algorithm.

In order to achieve the above object, according to another aspect of the present invention, a robot joint motion control apparatus is further provided, the apparatus comprising: an acquisition unit for acquiring a target motion type of a target joint of the robot, wherein the target motion type is a target The purpose type of joint motion, the target motion type includes point motion and continuous motion; the determining unit is configured to determine a motion trajectory calculation method of the target joint according to the target motion type of the target joint; The calculation unit is configured to calculate a motion trajectory of the target joint by using a motion trajectory calculation method; and a control unit is configured to control the target joint to move according to the motion trajectory.

Further, the determining unit is configured to determine a motion trajectory calculation method of the target joint as a parabolic algorithm when the target motion type is a point motion, and the calculating unit is configured to fit the motion trajectory between the start position and the end position by a parabola algorithm. And the control unit is configured to control the movement track movement between the starting position and the ending position of the target joint according to the parabolic algorithm.

Further, the calculating unit includes: a first fitting module, configured to fit the first motion trajectory to a parabola, wherein the first motion trajectory is within a first preset time period from the starting position and before reaching the end position a motion trajectory in the second preset time period; and a second fitting module, configured to fit the second motion trajectory into a straight line, wherein the second motion trajectory is an end point of the first preset time period and a second preset time period The trajectory between the starting points.

Further, the determining unit is configured to determine, when the target motion type is continuous motion, a motion trajectory calculation method of the target joint is a high-order polynomial algorithm, and the calculating unit is configured to fit between the start position and the end position by using a high-order polynomial algorithm a motion trajectory, wherein the motion trajectory passes a preset path point between the start position and the end position, and the preset path point is a path point through which the continuous motion passes, and the control unit controls the target joint to be fitted according to the high-order polynomial algorithm. Motion trajectory movement between the starting position and the ending position.

Further, the high order polynomial algorithm is a cubic polynomial algorithm.

Further, the motion trajectory expression of the cubic polynomial algorithm is: θ(t)=a ₀ +a ₁ t+a ₂ t ² +a ₃ t ³ , where a ₀ represents the first coefficient and a ₁ represents the second coefficient , a ₂ represents a third coefficient, a ₃ represents a fourth coefficient, t represents time, θ (t) represents the angle of articulation, the computing unit includes: a first calculation module for calculating a first constraint condition by a preset coefficient And a second coefficient, a third coefficient, and a fourth coefficient, and a second calculating module, configured to calculate a motion trajectory of the target joint by using a motion trajectory expression.

Further, the target joint includes a first joint and a second joint, the target motion type of the first joint is a point motion, and the target motion type of the second joint is a continuous motion, and the determining unit includes: a first determining module, configured to The target motion type of one joint determines that the motion trajectory calculation method of the first joint is a parabola algorithm, and the second determining module determines that the motion trajectory calculation method of the second joint is a high-order polynomial algorithm according to the target motion type of the second joint.

In order to achieve the above object, according to another aspect of the present invention, there is also provided a robot comprising: the robot joint motion control device of the present invention.

The invention obtains a target motion type of a target joint of a robot, wherein the target motion type is a target type of the target joint motion, the target motion type includes a point motion and a continuous motion; and the target joint motion trajectory is determined according to the target motion type of the target joint. Calculation method; calculating the target joint by the motion trajectory calculation method The motion trajectory; and the control target joint movement according to the motion trajectory solves the problem of high limitation caused by the single calculation method of the joint motion trajectory of the robot, thereby achieving the effect of flexibly controlling the joint motion trajectory of the robot.

DRAWINGS

The accompanying drawings, which are incorporated in the claims In the drawing:

1 is a flow chart of a robot joint motion control method according to an embodiment of the present invention;

2 is a schematic diagram of a parabolic trajectory fitting in accordance with an embodiment of the present invention;

3 is a schematic diagram of a cubic polynomial motion trajectory fit in accordance with an embodiment of the present invention;

4 is a schematic diagram of a robot joint motion control apparatus according to an embodiment of the present invention.

detailed description

It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The invention will be described in detail below with reference to the drawings in conjunction with the embodiments.

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present application. It is an embodiment of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope shall fall within the scope of the application.

It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or order. It should be understood that the data so used may be interchanged where appropriate to facilitate the embodiments of the present application described herein. In addition, the terms "comprises" and "comprises" and "the" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to Those steps or units may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices.

Embodiments of the present invention provide a robot joint motion control method.

1 is a flow chart of a robot joint motion control method according to an embodiment of the present invention. As shown in FIG. 1, the method includes the following steps:

Step S102: Acquire a target motion type of the target joint of the robot.

The robot can be a variety of types of robots, for example, a biped walking robot, a robot for sliding motion, or a wheeled mobile robot, including an omnidirectional mobile robot and a differential mobile platform robot, or an arm. Robots, such as surgical robotic arms, or quadruped bionic robots. The target joint is one or more joints of the robot to be moved. The robot drives the robot to move through the joint activity. The target motion type is the target type of the target joint motion, and the target motion type includes point motion and continuous motion, wherein the robot motion Most joints only need to achieve point motion, and a few joints need continuous motion. In point motion, a joint moves from one position point to another in a certain period of time. It can move through multiple paths between two position points. How the middle path moves does not affect the final robot's motion result. . In continuous motion, the joint moves from one position point to another, and continuous motion is required, and a specific path point is passed in the middle to drive the robot to complete the preset motion, thereby making the whole robot movement movement smoother.

The target motion type can be calculated or planned in advance according to different target tasks. For example, after the robot receives the forward instruction, the motion control board of the robot processes the command, and analyzes and calculates the target motion type of the robot target joint, for example, the first leg joint target. The type of exercise is point motion, and the second leg joint target motion type is continuous motion.

Step S104: Determine a motion trajectory calculation method of the target joint according to the target motion type of the target joint.

After acquiring the target motion type of the target joint of the robot, the motion trajectory calculation method of the target joint is determined according to the target motion type of the target joint. For example, if the target motion type of the acquired robot is point motion, the motion trajectory calculation method for determining the target joint is a parabolic algorithm; if the target motion type is continuous motion, the motion trajectory calculation method for determining the target joint is a high-order polynomial algorithm. . Wherein, the parabolic algorithm may be a parabola fitting the path between the starting point and the ending point, and within the fitting section, the speed of change is smoothed using a constant acceleration. High-order polynomials can be cubic polynomials, or higher-order polynomials such as fourth-order polynomials and fifth-order polynomials. In order to make the calculation process simpler, reduce computational complexity, and improve computational efficiency, high-order polynomial algorithms can use cubic polynomial algorithms. In some application scenarios, in order to improve the accuracy of motion, four-time polynomial algorithm, fifth-order polynomial algorithm, and even higher-order polynomial algorithm are also used to achieve more precise control of the joint motion of the robot. In the application, settings and selections can be made according to specific application scenarios. The motion trajectory calculation method of the target joint may also be other methods, and may be stored in advance in the motion control storage device of the robot, such as a memory.

Step S106: Calculating the motion trajectory of the target joint by the motion trajectory calculation method.

After determining the motion trajectory calculation method of the target joint, the motion trajectory of the target joint is calculated by the determined motion trajectory calculation method. For example, if the target motion type is point motion, determining the motion trajectory calculation method of the target joint is a parabolic algorithm. , the motion trajectory between the starting position and the ending position is fitted by a parabolic algorithm. If the target motion type is continuous motion, it is determined that the motion trajectory calculation method of the target joint is higher order The item-based algorithm fits the motion trajectory between the start position and the end position by a high-order polynomial algorithm, wherein the path of the continuous motion needs to pass a preset path point, so the fitted motion trajectory passes the start position and the end position The preset path point between the preset path points is the path point through which the continuous motion passes, and the accuracy of the path planning can be improved by passing the preset path point between the start position and the end position.

Step S108: Control the target joint to move according to the motion trajectory.

After calculating the motion trajectory of the target joint by the motion trajectory calculation method, the target joint is controlled to move according to the motion trajectory. For example, if the target motion type is point motion, the target joint is controlled according to the starting position and the end position of the parabola algorithm. Motion trajectory between. If the target motion type is continuous motion, the control target joint moves according to the motion trajectory between the start position and the end position fitted by the high-order polynomial algorithm.

This embodiment can be applied to both rapid movement of joints and slow motion.

The embodiment adopts a target motion type of acquiring a target joint of the robot, wherein the target motion type is a target type of the target joint motion, the target motion type includes a point motion and a continuous motion; and the target joint motion is determined according to the target motion type of the target joint. Trajectory calculation method; calculating the motion trajectory of the target joint by the motion trajectory calculation method; and controlling the target joint to move according to the motion trajectory, thereby solving the problem of high limitation caused by the single calculation method of the joint motion trajectory of the robot, thereby achieving the flexible control robot The effect of the joint motion trajectory.

In an optional implementation manner, fitting the motion trajectory between the starting position and the ending position by a parabola algorithm may be: fitting the first motion trajectory to a parabola, wherein the first motion trajectory is from the starting position. a motion trajectory within a preset time period and a second preset time period before reaching the end position; fitting the second motion trajectory to a straight line, wherein the second motion trajectory is the end point and the second time of the first preset time period The trajectory of motion between the start points of the preset time period. The lengths of the first preset time period and the second preset time period may be the same or different.

2 is a schematic diagram of a parabolic trajectory fitting according to an embodiment of the present invention. Linear trajectory planning uses a straight line to connect the starting position and the ending position to form a motion function with respect to time, but linear interpolation directly leads to the starting The speed of the position and end position is not continuous, which is not allowed in actual robot movement. In order to avoid sudden changes in the velocity of the start and end points, a parabolic line can be used to fit a segment of the path near the start and end positions, and within the fitted segment, a constant acceleration is used to smooth the rate of change. 2, the abscissa is time and the ordinate is the angle of articulation, the starting position of the articulation angle θ _0, t is the time _b articulation angle θ _0, t _f time, the articulation angle θ _f, to The starting time is time zero. Before the time reaches the first preset time period t _b , the motion is in accordance with the parabolic trajectory. During the time between t _f -t _b and t _f , the parabola is also used as the trajectory, at t _b to Between t _{f and} t _b , a linear motion can be used to smoothly transition through a constant acceleration and change speed.

In an alternative embodiment, the motion trajectory expression of the cubic polynomial algorithm is:

θ(t)=a ₀ +a ₁ t+a ₂ t ² +a ₃ t ³ , where a ₀ represents the first coefficient, a ₁ represents the second coefficient, a ₂ represents the third coefficient, and a ₃ represents the fourth coefficient Coefficient, t represents time, θ(t) represents the angle of joint motion, and the motion trajectory of the target joint is calculated by the motion trajectory calculation method including: calculating the first coefficient, the second coefficient, the third coefficient, and the fourth by a preset constraint condition The coefficient calculates the motion trajectory of the target joint through the motion trajectory expression.

In the case of high requirements for the smoothness of the robot motion, a continuous path trajectory planning method with high-order polynomial interpolation can be used. Especially for trajectory planning where path points are required, high-order polynomial interpolation can ensure continuous changes in joint angle, angular velocity and angular acceleration.

The high-order polynomial motion track interpolation expression can take the following expression:

θ(t)=a ₀ +a ₁ t+a ₂ t ² ...+a _n t ⁿ

This embodiment can use two cubic polynomials (n=3) to fit the motion trajectory through a path point, using the angle of the joint at the starting point, the speed, the angle before and after the path point, the speed, acceleration, and end point when passing the path point. The angle and speed have a total of 8 constraints, and the 8 coefficients of the two polynomials can be calculated. Among them, the angle of the joint refers to the angle between the joint movement and the position of the joint zero point.

3 is a schematic diagram of a cubic polynomial motion trajectory fitting according to an embodiment of the present invention. As shown in FIG. 3, the abscissa represents time and the ordinate represents joint motion angle. The path trajectory fitted by the joint through the cubic polynomial moves from the starting point position to the end point position through the path point. During the movement, the path trajectory and the joint angle are smoothly transitioned. According to the path trajectory and time, the movement speed can be calculated smoothly, without mutation. It can improve the stability of the robot joint movement, make the robot movement fast and stable, and further improve the stability of the robot operation.

In an optional embodiment, the target joint includes a first joint and a second joint, the target motion type of the first joint is a point motion, and the target motion type of the second joint is a continuous motion, according to the target motion type of the target joint. The method for determining the motion trajectory of the target joint includes: determining a motion trajectory calculation method of the first joint according to the target motion type of the first joint as a parabolic algorithm, and determining a motion trajectory calculation method of the second joint according to the target motion type of the second joint is high Order polynomial algorithm.

The robot has multiple joints, and the calculation method of the motion trajectory of each target joint is determined according to different target motion types of different joints. For a target joint, in this motion, the target motion type may be point motion, and in the next motion, The target type is continuous motion. In a movement of the robot, the activity may be completed by two or more joints. If the target joint includes the first joint and the second joint, the target motion type of the first joint is point motion, the second joint The target motion type is continuous motion, and the motion trajectory calculation method of the first joint can be determined according to the target motion type of the first joint as a parabolic algorithm, and the motion trajectory calculation method of the second joint is determined according to the target motion type of the second joint is high. a polynomial algorithm, wherein the high-order polynomial algorithm may be a cubic polynomial algorithm or a fourth-order polynomial algorithm, and may be different for each motion of each joint, for example, a cubic polynomial algorithm is used in this motion. Use more than four times in the next exercise The item-based algorithm, the specific calculation method can be determined according to different motion processes.

Movement of the robot is formed by the movement of the common articulation, articulated in the actual process, most of the joints need only implement point motion, such as joint i in time t ₁ from the start to the stop position reaches a point in Start again in t ₂ to stop reaching another position, which can be achieved by linear trajectory planning of parabolic transition (in this embodiment, trajectory planning, ie trajectory calculation), because of the robot activity at two locations It is non-continuous and can use the parabolic method for trajectory planning for a certain motion area. If joint i+1 needs to move continuously in time t ₁ +t ₂ , so that the whole robot motion is smoother, it is necessary to plan the path by using cubic polynomial and passing a path point for joint i+1. The location and elapsed time of the point must be planned in advance according to different target motion requirements.

Table 1 Correspondence table for the combination of parabola method and cubic polynomial trajectory planning method

As shown in Table 1, at time t ₁ , the joint i uses the parabola method to calculate the motion trajectory, the joint i+1 uses the cubic polynomial method to calculate the motion trajectory, and the joint i+2 uses the parabola method to calculate the motion trajectory; at time t ₂ , the joint i The parabola method is used to calculate the motion trajectory. The joint i+1 uses the cubic polynomial method to calculate the motion trajectory, and the joint i+2 uses the parabola method to calculate the motion trajectory. The same joint can also calculate the motion trajectory at different times at different times.

The embodiment of the invention can select the target trajectory calculation method of the target joint according to the target motion type of the target joint, for example, the task, the motion path and the trajectory requirement of the robot, combined with the motion speed and constraints of the different joints, and calculate the expected motion. Trajectories, even speed and acceleration, to generate motion trajectories, improve the original single trajectory calculation method, can realize parabolic trajectory planning for some joints in actual motion, and use high-order polynomial trajectory planning for other joints, which ensures simple operation In addition, the robot can be moved quickly and smoothly. In the actual programming and debugging, complex nested loops can be used to achieve the combination of the two methods. The method has a wide application range and can be used in almost all robot joint joint motions.

It should be noted that the steps illustrated in the flowchart of the accompanying drawings may be executed in a computer system such as a set of computer executable instructions, and, although shown in the flowchart, The steps shown or described may be performed in an order different than that herein.

The embodiment of the invention provides a robot joint motion control device, which can be used to execute the robot joint motion control method of the embodiment of the invention.

4 is a schematic diagram of a robot joint motion control apparatus according to an embodiment of the present invention. As shown in FIG. 4, the apparatus includes:

The acquiring unit 10 is configured to acquire a target motion type of the target joint of the robot, wherein the target motion type is a target type of the target joint motion, and the target motion type includes a point motion and a continuous motion.

The determining unit 20 is configured to determine a motion trajectory calculation method of the target joint according to the target motion type of the target joint.

The calculating unit 30 is configured to calculate a motion trajectory of the target joint by using a motion trajectory calculation method.

The control unit 40 is configured to control the target joint to move according to the motion trajectory.

Optionally, the determining unit 20 is configured to determine a motion trajectory calculation method of the target joint as a parabolic algorithm when the target motion type is a point motion, and the calculating unit 30 is configured to fit between the start position and the end position by a parabolic algorithm. The motion trajectory, and the control unit 40 is used to control the motion trajectory movement between the start position and the end position of the target joint in accordance with the parabolic algorithm.

Optionally, the calculating unit 30 includes: a first fitting module, configured to fit the first motion trajectory to a parabola, wherein the first motion trajectory is within a first preset time period from the start position and before reaching the end position a motion trajectory in a second preset time period; and a second fitting module for fitting the second motion trajectory to a straight line, wherein the second motion trajectory is an end point of the first preset time period and the second preset The trajectory of motion between the beginnings of the time period.

Optionally, the determining unit 20 is configured to determine, when the target motion type is continuous motion, a motion trajectory calculation method of the target joint is a high-order polynomial algorithm, and the calculating unit 30 is configured to fit the start position and the end position by using a high-order polynomial algorithm. a motion trajectory, wherein the motion trajectory passes a preset path point between the start position and the end position, the preset path point is a path point through which the continuous motion passes, and the control unit 40 is configured to control the target joint according to a high order polynomial algorithm The motion path motion between the starting position and the ending position of the fit.

Alternatively, the high order polynomial algorithm is a cubic polynomial algorithm.

Optionally, the motion trajectory expression of the cubic polynomial algorithm is: θ(t)=a ₀ +a ₁ t+a ₂ t ² +a ₃ t ³ , where a ₀ represents the first coefficient and a ₁ represents the second Coefficient, a ₂ represents a third coefficient, a ₃ represents a fourth coefficient, t represents time, θ(t) represents an angle of joint motion, and calculation unit 30 includes: a first calculation module for calculating a preset constraint condition a coefficient, a second coefficient, a third coefficient, and a fourth coefficient, and a second calculating module, configured to calculate a motion trajectory of the target joint by using a motion trajectory expression.

Further, the target joint includes a first joint and a second joint, the target motion type of the first joint is a point motion, and the target motion type of the second joint is a continuous motion, and the determining unit 20 includes: a first determining module, configured to The target motion type of the first joint determines the motion trajectory calculation method of the first joint as a parabolic algorithm, and second The determining module is configured to determine a motion trajectory calculation method of the second joint according to the target motion type of the second joint as a high-order polynomial algorithm.

The embodiment adopts an obtaining unit 10 for acquiring a target motion type of a target joint of the robot, wherein the target motion type is a target type of the target joint motion, and the target motion type includes a point motion and a continuous motion; the determining unit 20 is configured to Determining a motion trajectory calculation method of the target joint according to the target motion type of the target joint; calculating unit 30 for calculating a motion trajectory of the target joint by the motion trajectory calculation method; and controlling unit 40 for controlling the target joint to move according to the motion trajectory, thereby The invention solves the problem of high limitation caused by the single calculation method of the joint motion trajectory of the robot, and further achieves the effect of flexibly controlling the joint motion trajectory of the robot.

The embodiment of the invention further provides a robot comprising the robot joint motion control device of the embodiment of the invention.

It will be apparent to those skilled in the art that the various modules or steps of the present invention described above can be implemented by a general-purpose computing device that can be centralized on a single computing device or distributed across a network of multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device, such that they may be stored in a storage device by a computing device, or they may be fabricated into individual integrated circuit modules, or Multiple modules or steps are made into a single integrated circuit module. Thus, the invention is not limited to any specific combination of hardware and software.

The above description is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims

A robot joint motion control method, comprising:

Obtaining a target motion type of a target joint of the robot, wherein the target motion type is a target type of the target joint motion, and the target motion type includes a point motion and a continuous motion;

Determining a motion trajectory calculation method of the target joint according to a target motion type of the target joint;

Calculating a motion trajectory of the target joint by the motion trajectory calculation method;

The target joint is controlled to move in accordance with the motion trajectory.
The method of claim 1 wherein

Determining a motion trajectory calculation method of the target joint according to a target motion type of the target joint includes: if the target motion type is the point motion, determining a motion trajectory calculation method of the target joint as a parabolic algorithm,

Calculating the motion trajectory of the target joint by the motion trajectory calculation method includes: fitting a motion trajectory between a start position and an end position by a parabolic algorithm,

Controlling movement of the target joint in accordance with the motion trajectory includes controlling motion trajectory movement between a starting position and an ending position of the target joint fitted in accordance with the parabolic algorithm.
The method according to claim 2, wherein the fitting of the motion trajectory between the start position and the end position by the parabolic algorithm comprises:

Fitting the first motion trajectory to a parabola, wherein the first motion trajectory is a motion trajectory within a second preset time period before the first preset time period from the start position and before reaching the end position ;

The second motion trajectory is fitted to a straight line, wherein the second motion trajectory is a motion trajectory between an end point of the first preset time period and a start point of the second preset time period.
The method of claim 1 wherein

Determining a motion trajectory calculation method of the target joint according to a target motion type of the target joint includes: if the target motion type is the continuous motion, determining a motion trajectory calculation method of the target joint is a high-order polynomial algorithm,

Calculating the motion trajectory of the target joint by the motion trajectory calculation method includes: fitting a motion trajectory between a start position and an end position by a high-order polynomial algorithm, wherein the motion trajectory passes through the start position and a preset path point between the end positions, the preset path point being a path point through which the continuous motion passes,

Controlling movement of the target joint in accordance with the motion trajectory includes controlling motion trajectory movement between the start position and the end position of the target joint fitted according to the high order polynomial algorithm.
The method of claim 4 wherein said higher order polynomial algorithm is a cubic polynomial algorithm.
The method of claim 5 wherein:

The motion trajectory expression of the cubic polynomial algorithm is: θ(t)=a 0 +a 1 t+a 2 t 2 +a 3 t 3 , where a 0 represents the first coefficient and a 1 represents the second coefficient, a 2 represents a third coefficient, a 3 represents a fourth coefficient, t represents time, and θ(t) represents an angle of joint motion,

Calculating the motion trajectory of the target joint by the motion trajectory calculation method includes: calculating the first coefficient, the second coefficient, the third coefficient, and the fourth coefficient by using a preset constraint condition, The motion trajectory expression calculates a motion trajectory of the target joint.
The method according to claim 1, wherein the target joint comprises a first joint and a second joint, a target motion type of the first joint is the point motion, and a target motion of the second joint The type is the continuous motion, and the method for calculating the motion trajectory of the target joint according to the target motion type of the target joint includes:

Determining, according to the target motion type of the first joint, a motion trajectory calculation method of the first joint is a parabolic algorithm,

Determining a motion trajectory calculation method of the second joint according to a target motion type of the second joint is a high-order polynomial algorithm.
A robot joint motion control device, comprising:

An acquiring unit, configured to acquire a target motion type of a target joint of the robot, wherein the target motion type is a target type of the target joint motion, and the target motion type includes a point motion and a continuous motion;

a determining unit, configured to determine a motion trajectory calculation method of the target joint according to a target motion type of the target joint;

a calculating unit configured to calculate a motion trajectory of the target joint by the motion trajectory calculation method;

And a control unit, configured to control the target joint to move according to the motion trajectory.
The device of claim 8 wherein:

The determining unit is configured to determine, when the target motion type is the point motion, a motion trajectory calculation method of the target joint as a parabolic algorithm,

The calculation unit is configured to fit a motion trajectory between a start position and an end position by a parabolic algorithm, and

The control unit is configured to control a motion trajectory movement between the start position and the end position of the target joint according to the parabolic algorithm.
The apparatus according to claim 9, wherein said calculating unit comprises:

a first fitting module, configured to fit the first motion trajectory to a parabola, wherein the first motion trajectory is a second time period before the first preset time period from the start position and before reaching the end position Motion trajectory within a preset time period;

a second fitting module, configured to fit the second motion trajectory to a straight line, wherein the second motion trajectory is between an end point of the first preset time period and a start point of the second preset time period Movement track.
The device of claim 8 wherein:

The determining unit is configured to determine, when the target motion type is the continuous motion, a motion trajectory calculation method of the target joint as a high-order polynomial algorithm,

The calculation unit is configured to fit a motion trajectory between a start position and an end position by a high-order polynomial algorithm, wherein the motion trajectory passes a preset path point between the start position and the end position, The preset path point is a path point through which the continuous motion passes.

The control unit is configured to control a motion trajectory movement between the start position and the end position of the target joint according to the high-order polynomial algorithm.
The apparatus of claim 11 wherein said higher order polynomial algorithm is a cubic polynomial algorithm.
The device according to claim 12, characterized in that

The motion trajectory expression of the cubic polynomial algorithm is: θ(t)=a 0 +a 1 t+a 2 t 2 +a 3 t 3 , where a 0 represents the first coefficient and a 1 represents the second coefficient, a third coefficient a 2, a 3 represents a fourth coefficient, t represents time, θ (t) represents the angle of articulation,

The calculating unit includes: a first calculating module, configured to calculate the first coefficient, the second coefficient, the third coefficient, and the fourth coefficient by using a preset constraint condition,

And a second calculating module, configured to calculate a motion trajectory of the target joint by using the motion trajectory expression.
The apparatus according to claim 8, wherein said target joint includes a first joint and a second joint, a target motion type of said first joint is said point motion, and a target motion of said second joint The type is the continuous motion, and the determining unit comprises:

a first determining module, configured to determine, according to the target motion type of the first joint, a motion trajectory calculation method of the first joint as a parabolic algorithm,

The second determining module is configured to determine, according to the target motion type of the second joint, a motion trajectory calculation method of the second joint as a high-order polynomial algorithm.
A robot comprising the robot joint motion control device according to any one of claims 8 to 14.