Motion control method, device and system, and storage medium
AssigneeMegarobo Technologies Co., Ltd.
InventorYan Zhang
Life of this patent
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Abstract
A motion control method is provided. The motion control method comprises: obtaining a sequence of motion parameters of a joint; interpolating the sequence of motion parameters to obtain an interpolation parameter sequence; and calculating driving parameters of a motion component based on the interpolation parameter sequence to drive the motion component to move. According to the motion control method, only a few of motion parameters need to be set by a user, and a lot of motion parameters can be obtained by interpolation, which make it possible for a motor or a robot to achieve smooth operation while a workload for the user is kept to be lower. A motion control device, system, and storage medium are also provided.
Claims20
A motion control method, comprising:
- obtaining a sequence of motion parameters of a joint;
- interpolating the sequence of motion parameters to obtain an interpolation parameter sequence, comprising:
- firstly interpolating the sequence of motion parameters by using a robot control apparatus to obtain a rough interpolation parameter sequence;
- detecting whether a first reversing set exists in the rough interpolation parameter sequence, each first reversing set comprising three groups of rough interpolation motion parameters with adjacent time data for reversing the motion component;
- if at least one first reversing set is detected, for each of the at least one first reversing sets, inserting at least one group of first reversing motion parameters into the first reversing set to obtain a new rough interpolation parameter sequence, wherein the at least one group of first reversing motion parameters is used for indicating that a backlash is passed during reversal of the motion component within a preset time;
- and
- secondly interpolating the rough interpolation parameter sequence by using a motion control component to obtain the interpolation parameter sequence;
- and
- calculating driving parameters of a motion component based on the interpolation parameter sequence to drive the motion component to move.
A non-transitory storage medium storing program instructions which are configured to perform, when running, a motion control method with a sequence of motion parameters of a joint, the method comprising:
- interpolating the sequence of motion parameters to obtain an interpolation parameter sequence, comprising:
- firstly interpolating the sequence of motion parameters by using a robot control apparatus to obtain a rough interpolation parameter sequence;
- detecting whether a first reversing set exists in the rough interpolation parameter sequence, each first reversing set comprising three groups of rough interpolation motion parameters with adjacent time data for reversing the motion component;
- if at least one first reversing set is detected, for each of the at least one first reversing sets, inserting at least one group of first reversing motion parameters into the first reversing set to obtain a new rough interpolation parameter sequence, wherein the at least one group of first reversing motion parameters is used for indicating that a backlash is passed during reversal of the motion component within a preset time;
- and
- secondly interpolating the rough interpolation parameter sequence by using a motion control component to obtain the interpolation parameter sequence;
- and
- calculating driving parameters of a motion component based on the interpolation parameter sequence to drive the motion component to move.
A non-transitory storage medium storing program instructions which are configured to perform, when running, a motion control method with a sequence of motion parameters of a joint, the method comprising:
- interpolating the sequence of motion parameters to obtain an interpolation parameter sequence;
- detecting whether a first reversing set exists in the interpolation parameter sequence, each first reversing set comprising three groups of interpolation motion parameters with adjacent time data for reversing the motion component;
- if at least one first reversing set is detected, for each of the at least one first reversing sets, inserting at least one group of first reversing motion parameters into the first reversing set to obtain a new interpolation parameter sequence, wherein the at least one group of first reversing motion parameters is used for indicating that a backlash is passed during reversal of the motion component within a preset time;
- and
- calculating driving parameters of a motion component based on the interpolation parameter sequence to drive the motion component to move.
Dependencies are inferred from the claim text.