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).)

A method for controlling the movement of a robot, 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;

determining the inflection point as a first feature point, determining a point between the inflection point and the intermediate point in the first planning movement as a second feature point, determining a point between the intermediate point and the inflection point in the second planning movement as a third feature point, and determining the inflection point as a fourth feature point; and

determining a planned pose of a transitional motion of the robot end effector from the planned pose of the robot end effector at the first feature point, the planned pose at the second feature point, the planned pose at the third feature point, and the planned pose at the fourth feature point, wherein the transitional motion starts at the exit point and ends at the entry point.

The method of motion control of a robot of claim 1, wherein the step of determining a planned pose of the transitional motion of the robot end effector comprises:

determining a planned attitude quaternion for the transitional motion of the robot end effector from the planned attitude quaternion for the robot end effector at the first feature point, the planned attitude quaternion at the second feature point, the planned attitude quaternion at the third feature point, and the planned attitude quaternion at the fourth feature point.

The method of motion control of a robot of claim 2, wherein the step of determining a planned pose quaternion for the transitional motion of the robot end effector comprises:

performing spherical interpolation on the planning attitude quaternion of the robot end effector at the first characteristic point and the planning attitude quaternion at the second characteristic point to obtain a first interpolation function;

performing spherical interpolation on the planning attitude quaternion of the robot end effector at the second characteristic point and the planning attitude quaternion at the third characteristic point to obtain a second interpolation function;

performing spherical interpolation on the planning attitude quaternion of the robot end effector at the third characteristic point and the planning attitude quaternion at the fourth characteristic point to obtain a third interpolation function;

performing spherical interpolation on the first interpolation function and the second interpolation function to obtain a fourth interpolation function;

performing spherical interpolation on the second interpolation function and the third interpolation function to obtain a fifth interpolation function; and

and performing spherical interpolation on the fourth interpolation function and the fifth interpolation function to obtain a planning attitude quaternion of the transitional motion of the robot end effector.

The motion control method of a robot according to claim 1, characterized in that:

the first planned movement is a deceleration movement, and the inflection point is a deceleration start point of the first planned movement, and the intermediate point is a deceleration completion point of the first planned movement; and

the second planned movement is an accelerated movement and the intermediate point is an accelerated starting point of the second planned movement and the entry point is an accelerated finishing point of the second planned movement.

The method of controlling the motion of a robot according to claim 4, wherein the second feature point is a time-equipartition point between the exit point and the intermediate point on the first planned motion, and the third feature point is a time-equipartition point between the intermediate point and the exit point on the second planned motion.

The method of controlling the motion of a robot according to claim 4, wherein the second feature point is a path bisection point between the exit point and the intermediate point on the first planned motion, and the third feature point is a path bisection point between the intermediate point and the exit point on the second planned motion.

The method of controlling the movement of a robot according to claim 1, further comprising:

using a polygon composed of the first characteristic point, the second characteristic point, the third characteristic point and the fourth characteristic point as a control polygon of a Beizer curve; and

determining a planned trajectory of the transitional motion of the robotic end effector according to the control polygon and a method of computing a Beizer curve.

The motion control method of a robot according to claim 6, further comprising:

interpolating the position and the posture of each moment of the actual motion of the robot end effector according to the planned track and the planned posture of the transitional motion of the robot end effector;

and controlling a driving motor of the robot to act according to the interpolation result, so that the robot end effector moves according to the planning track and the planning posture of the transitional motion.

A robot control system comprising a processor, the processor being loadable with program instructions and executing a method of motion control of a robot, the method comprising:

determining the inflection point as a first feature point, determining a point between the inflection point and the intermediate point in the first planning movement as a second feature point, determining a point between the intermediate point and the inflection point in the second planning movement as a third feature point, and determining the inflection point as a fourth feature point; and

determining a planned pose of a transitional motion of the robot end effector from the planned pose of the robot end effector at the first feature point, the planned pose at the second feature point, the planned pose at the third feature point, and the planned pose at the fourth feature point, wherein the transitional motion starts at the exit point and ends at the entry point.

The robotic control system of claim 9, wherein the step of determining a planned pose of the transitional motion of the robotic end effector comprises:

determining a planned attitude quaternion for the transitional motion of the robot end effector from the planned attitude quaternion for the robot end effector at the first feature point, the planned attitude quaternion at the second feature point, the planned attitude quaternion at the third feature point, and the planned attitude quaternion at the fourth feature point.

The robot control system of claim 10, wherein the step of determining a planned attitude quaternion for the transitional motion of the robot comprises:

performing spherical interpolation on the planning attitude quaternion of the robot end effector at the first characteristic point and the planning attitude quaternion at the second characteristic point to obtain a first interpolation function;

performing spherical interpolation on the planning attitude quaternion of the robot end effector at the second characteristic point and the planning attitude quaternion at the third characteristic point to obtain a second interpolation function;

performing spherical interpolation on the planning attitude quaternion of the robot end effector at the third characteristic point and the planning attitude quaternion at the fourth characteristic point to obtain a third interpolation function;

performing spherical interpolation on the first interpolation function and the second interpolation function to obtain a fourth interpolation function;

performing spherical interpolation on the second interpolation function and the third interpolation function to obtain a fifth interpolation function; and

and performing spherical interpolation on the fourth interpolation function and the fifth interpolation function to obtain a planning attitude quaternion of the transitional motion of the robot end effector.

The robot control system of claim 9, wherein:

the first planned movement is a deceleration movement, and the inflection point is a deceleration start point of the first planned movement, and the intermediate point is a deceleration completion point of the first planned movement; and

the second planned movement is an accelerated movement and the intermediate point is an accelerated starting point of the second planned movement and the entry point is an accelerated finishing point of the second planned movement.

The robot control system of claim 12, wherein the second feature point is a time bisection point between the exit point and the intermediate point on the first planned motion, and the third feature point is a time bisection point between the intermediate and the exit point on the second planned motion.

The robot control system of claim 12, wherein the second feature point is a path bisection point between the exit point and the intermediate point on the first planned motion, and the third feature point is a path bisection point between the intermediate and the exit point on the second planned motion.

The robot control system of claim 9, further comprising:

using a polygon composed of the first characteristic point, the second characteristic point, the third characteristic point and the fourth characteristic point as a control polygon of a Beizer curve; and

determining a planned trajectory of the transitional motion of the robotic end effector from the control polygon and a calculation method of a Beizer curve.

The robot control system according to claim 15, wherein the motion control method of the robot further comprises:

interpolating the position and the posture of each moment of the actual motion of the robot end effector according to the planned track and the planned posture of the transitional motion of the robot end effector;

and controlling a driving motor of the robot to act according to the interpolation result, so that the robot end effector moves according to the planning track and the planning posture of the transitional motion.

A method for controlling the movement of a robot, 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;

determining a planning track and a planning posture of transitional motion of the robot end effector, wherein the transitional motion starts from the inflection point and ends at the inflection point;

wherein the step of determining a planned pose of the transitional motion of the robotic end effector comprises:

determining the inflection point as a first feature point, determining a point between the inflection point and the intermediate point in the first planning movement as a second feature point, determining a point between the intermediate point and the inflection point in the second planning movement as a third feature point, and determining the inflection point as a fourth feature point; and

determining a planned pose of the smooth transitional motion of the robotic end effector from the planned pose of the robotic end effector at the first feature point, the planned pose at the second feature point, the planned pose at the third feature point, and the planned pose at the fourth feature point.

An apparatus having a memory function, wherein program instructions are stored, the program instructions being loadable and executable to perform a method of motion control 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;

determining a planning track and a planning posture of transitional motion of the robot end effector, wherein the transitional motion starts from the inflection point and ends at the inflection point;

wherein the step of determining a planned pose of the transitional motion of the robotic end effector comprises:

determining the inflection point as a first feature point, determining a point between the inflection point and the intermediate point in the first planning movement as a second feature point, determining a point between the intermediate point and the inflection point in the second planning movement as a third feature point, and determining the inflection point as a fourth feature point; and

determining a planned pose of the transitional motion of the robotic end effector from the planned pose of the robotic end effector at the first feature point, the planned pose at the second feature point, the planned pose at the third feature point, and the planned pose at the fourth feature point.