Massage motion control method, robot controller using the same, and computer readable storage medium

A robot controller, comprising:

• a processor;
• a memory coupled to the processor;
• and
• one or more computer programs stored in the memory and executable on the processor;
• wherein, the one or more computer programs comprise:
• instructions for obtaining a desired massage trajectory of a massage robot for a target massage area at a current control cycle of the massage robot, a robot end speed compensation amount of a desired massage intensity meeting the desired massage trajectory, and a robot end angular speed compensation amount for the desired massage trajectory, wherein the robot end angular speed compensation amount is adapted to a curvature of the target massage area;
• instructions for calculating a robot end desired speed and a robot end desired angular speed of the massage robot at the current control cycle based on the desired massage trajectory;
• instructions for obtaining a to-be-outputted end speed by performing a speed compensation on the robot end desired speed according to the robot end speed compensation amount corresponding to the desired massage trajectory, and obtaining a to-be-outputted end angular speed by performing an angular speed compensation on the robot end desired angular speed according to the robot end angular speed compensation amount corresponding to the desired massage trajectory;
• instructions for calculating a to-be-outputted joint angle using robot kinematics based on the to-be-outputted end speed and the to-be-outputted end angular speed;
• and
• instructions for controlling the massage robot to perform a massage motion for the target massage area by adjusting a joint angle of one or more joints of the massage robot according to the to-be-outputted joint angle.

A non-transitory computer readable storage medium for storing one or more computer programs, wherein the one or more computer programs comprise:

• instructions for obtaining a desired massage trajectory of a massage robot for a target massage area at a current control cycle of the massage robot, a robot end speed compensation amount of a desired massage intensity meeting the desired massage trajectory, and a robot end angular speed compensation amount for the desired massage trajectory, wherein the robot end angular speed compensation amount is adapted to a curvature of the target massage area;
• instructions for calculating a robot end desired speed and a robot end desired angular speed of the massage robot at the current control cycle based on the desired massage trajectory;
• instructions for obtaining a to-be-outputted end speed by performing a speed compensation on the robot end desired speed according to the robot end speed compensation amount corresponding to the desired massage trajectory, and obtaining a to-be-outputted end angular speed by performing an angular speed compensation on the robot end desired angular speed according to the robot end angular speed compensation amount corresponding to the desired massage trajectory;
• instructions for calculating a to-be-outputted joint angle using robot kinematics based on the to-be-outputted end speed and the to-be-outputted end angular speed;
• and
• instructions for controlling the massage robot to perform a massage motion for the target massage area by adjusting a joint angle of one or more joints of the massage robot according to the to-be-outputted joint angle.