Motion control method, method for generating trajectory of motion, and electronic device

An electronic device, applied to a robot, the electronic device comprising a memory and a processor, wherein

• the memory is configured to store computer instructions executable by the processor;
• and
• the processor is configured to implement, when executing the computer instructions, acts comprising:
• generating, according to a type of a desired motion, at least one motion phase of a motion process and a time for each motion phase of the at least one motion phase;
• determining, according to the at least one motion phase and the time of each motion phase of the at least one motion phase, a desired pose of the robot at at least one node during the motion process;
• inputting the desired pose at the at least one node as a reference value into a cost function model to obtain a trajectory of the desired motion, wherein the trajectory comprises a pose and a control parameter of the robot at each of a plurality of sampling points during the motion process;
• controlling the robot to move according to the trajectory of the desired motion;
• determining, according to the at least one motion phase, the time of each motion phase of the at least one motion phase, and relative relationships between desired poses of the robot at different nodes, the desired poses of the robot at a plurality of nodes during the motion process;
• and
• determining that any two nodes belong to a same motion phase, and determine a relative relationship between the desired poses of the robot at the two nodes according to positions of the two nodes in the motion phase and a preset motion function relationship between the two nodes.

A non-transitory computer-readable storage medium having stored thereon a computer program, the program, when executed by one or more processors of a robot, causing the robot to perform operations comprising:

• generating, according to a type of a desired motion, at least one motion phase of a motion process and a time for each motion phase of the at least one motion phase;
• determining, according to the at least one motion phase and the time of each motion phase of the at least one motion phase, a desired pose of the robot at at least one node during the motion process;
• inputting the desired pose at the at least one node as a reference value into a cost function model to obtain a trajectory of the desired motion, wherein the trajectory comprises a pose and a control parameter of the robot at each of a plurality of sampling points during the motion process;
• and
• controlling the robot to move according to the trajectory of the desired motion;
• wherein determining, according to the at least one motion phase and the time of each motion phase of the at least one motion phase, the desired pose of the robot at the at least one node during the motion process, comprises:
• determining, according to the at least one motion phase, the time of each motion phase of the at least one motion phase, and relative relationships between desired poses of the robot at different nodes, the desired poses of the robot at a plurality of nodes during the motion process;
• and
• wherein determining the relative relationships between the desired poses of the robot at different nodes, comprises:
• determining that any two nodes belong to a same motion phase, and determining a relative relationship between the desired poses of the robot at the two nodes according to positions of the two nodes in the motion phase and a preset motion function relationship between the two nodes.