Method for controlling a plurality of execution mechanisms, electronic device, and storage medium

An electronic device comprising:

• a processor;
• and
• a memory coupled to the processor, the memory storing an instruction that, when executed by the processor, causes the electronic device to:
• determine a dependency relationship of synchronous motions among a plurality of execution mechanisms, wherein the dependency relationship represents that motions of a second group of execution mechanisms in the plurality of execution mechanisms depend on motion of a first group of execution mechanisms in the plurality of execution mechanisms;
• according to the dependency relationship, determine an execution order of the first group of execution mechanisms and the second group of execution mechanisms;
• determine the degrees of rotation angles of joints coupled to corresponding execution mechanisms;
• and
• according to the determined execution order, sequentially control the joints to respectively rotate by the determined degrees of rotation angles;
• wherein the dependency relationship among the plurality of execution mechanisms is dynamically represented by a tree data structure;
• wherein the first group of execution mechanisms comprises a positioner configured to clamp a first workpiece;
• wherein determining the dependency relationship comprises creating a reference coordinate system on the first workpiece;
• in response to the determination that the positioner is fixed relative to the reference coordinate system and that a first execution mechanism and a second execution mechanism perform a linear motion relative to the positioner, determine that the motions of the first execution mechanism and the second execution mechanism depend on the motion of the positioner.