Title:
MOTION CONTROL METHOD FOR ROBOT, CONTROL SYSTEM, AND STORAGE DEVICE
Document Type and Number:
WIPO Patent Application WO/2020/093254
Kind Code:
A1
Abstract:
A motion control method for a robot, a robot motion control system, and a storage device. The motion control method comprises: acquiring planned trajectories and planned postures of first and second planned motions of a robot end effector, where the first planned motion starts from a turn-out point and ends at an intermediate point, and the second planned motion starts from the intermediate point and ends at a turn-in point; and determining a planned posture of a transitional motion of the robot end effector on the basis of the planned posture of the first planned motion, of the planned posture at the intermediate point, and of the planned posture of the second planned motion of the robot end effector, where the transitional motion starts from the turn-out point and ends at the turn-in point. The robot motion control system comprises a processor. The processor can be loaded with program instructions and execute the motion control method for the robot. The storage device stores the program instructions that can be loaded and execute the motion control method for the robot. By using the planned postures of the first planned motion and of the second planned motion of the robot and the planned posture at the intermediate point to determine the planned posture of the transitional motion of the robot end effector, a planned angular speed of the transitional motion of the robot end effector produced can be continuous, a jump in the angular speed of the transitional motion of the robot end effector is prevented, and motion control of the robot is facilitated.
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Inventors:
ZHANG ZHIMING (CN)
Application Number:
PCT/CN2018/114222
Publication Date:
May 14, 2020
Filing Date:
November 06, 2018
Export Citation:
Assignee:
SHENZHEN A & E INTELLIGENT TECH INST CO LTD (CN)
International Classes:
B25J9/16
Foreign References:
| CN107030697A | 2017-08-11 | |||
| CN106826829A | 2017-06-13 | |||
| CN103365244A | 2013-10-23 | |||
| KR100244443B1 | 2000-04-01 | |||
| JP2017185598A | 2017-10-12 |
Other References:
YU, XINYI EL AL.: "Design and Implementation of CP Motion Instruction for Industrial Robots", JOURNAL OF ZHEJIANG UNIVERSITY OF TECHNOLOGY, vol. 45, no. 5, 31 October 2017 (2017-10-31), pages 568 - 573, ISSN: 1006-4303
Attorney, Agent or Firm:
CHINA WISPRO INTELLECTUAL PROPERTY LLP. (CN)
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