Motion control method, motion control device, and motion trajectory planning method

A motion trajectory planning method, comprising:

• (A) obtaining a current position of a control object at a current time using sensors, and obtaining a current velocity of the control object;
• (B) obtaining a current acceleration based on the current position and the current velocity through the formula a(t)=K2(s0−s(t))−2Kv(t), t is the current time, wherein t is the current time, K is the accommodation coefficient, s0 is the target position, s(t) is the position at the current time, v(t) is the velocity at the current time;
• (C) obtaining a next moment position utilizing the current position and the current velocity, and obtaining a next moment velocity utilizing the current acceleration and the current velocity, wherein the time interval between the next moment and the current time is an iteration step length;
• and
• (D) iteratively performing the steps (A)-(C) until reaching the target position, so as to obtain a motion trajectory.

A motion control device, comprising:

• a processor;
• a sensor;
• and
• a driver;
• wherein the processor is coupled with the sensor and the driver;
• the processor is configured to execute the following steps:
• (a) obtaining a current position of a control object at a current time using the sensor, and obtaining a current velocity of the control object;
• (b) obtaining a current acceleration based on the current position and the current velocity through the formula:
• a(t)=K2(s0−s(t))−2Kv(t), wherein t is the current time, K is the accommodation coefficient, s0 is a target position, s(t) is the position at the current time, v(t) is the velocity at the current time;
• (c) controlling a motor for driving the control object utilizing the current acceleration through the driver;
• and (d) iteratively performing the steps (a)-(c) until the control object reaches the target position.