阅读说明：本技术 机器人的运动控制方法、控制系统和存储装置 (Robot motion control method, control system and storage device ) 是由 张志明 于 2018-11-06 设计创作，主要内容包括：一种机器人的运动控制方法、控制系统和存储装置,该方法包括：获取机器人末端执行器的第一规划运动和第二规划运动的规划轨迹和规划姿态,第一规划运动起始于拐出点结束于中间点,第二规划运动起始于中间点结束于拐入点(S101)；将拐出点确定为第一特征点,将第一规划运动上拐出点和中间点之间的一点确定为第二特征点,将第二规划运动上中间点和拐入点之间的一点确定为第三特征点,并将拐入点确定为第四特征点(S102)；以及根据机器人末端执行器在第一至第四特征点处的规划姿态确定机器人末端执行器的过渡运动的规划姿态,过渡运动起始于拐出点,结束于拐入点(S103)。(A motion control method, a control system and a storage device of a robot, the method comprising: acquiring planning tracks and planning postures of a first planning movement and a second planning movement of a robot end effector, wherein the first planning movement starts from an out point and ends at an intermediate point, and the second planning movement starts from the intermediate point and ends at an in point (S101); determining an inflection point as a first feature point, determining a point between the inflection point and a middle point on the first planning motion as a second feature point, determining a point between the middle point and an inflection point on the second planning motion as a third feature point, and determining the inflection point as a fourth feature point (S102); and determining a planning posture of a transition motion of the robot end effector according to the planning postures of the robot end effector at the first to fourth characteristic points, wherein the transition motion starts from the turning point and ends at the turning point (S103).)