Title:
ROBOT MOTION CONTROL METHOD, MOTION CONTROL DEVICE AND ROBOT SYSTEM
Document Type and Number:
WIPO Patent Application WO/2019/024071
Kind Code:
A1
Abstract:
A robot motion control method, a motion control device (810) and a robot system, which are used for improving the precision of synchronization between a robot and an external conveyor belt and for enabling the robot to more accurately grasp an object on the external conveyor belt. The method is applied to the motion control device (810), which comprises a control loop and a motion simulation model, and the method comprises: acquiring actual motion parameters of a conveyor belt by means of the control loop, and generating simulated motion parameters according to the actual motion parameters and a first motion parameter of the last cycle of the robot (201), the first motion parameter being generated and fed back by the motion simulation model, and the control loop being used for receiving the feedback from the motion simulation model; generating a second motion parameter of the current cycle of the robot according to the simulated motion parameters by means of the motion simulation model, and feeding back the second motion parameter to the control loop (202); and transmitting the second motion parameter to a driving device of the robot (203).
Inventors:
GUO TAO (CN)
Application Number:
PCT/CN2017/095959
Publication Date:
February 07, 2019
Filing Date:
August 04, 2017
Export Citation:
Assignee:
SHENZHEN A & E SMART INST CO LTD (CN)
International Classes:
G05B13/04
Foreign References:
| CN106597842A | 2017-04-26 | |||
| CN106597844A | 2017-04-26 | |||
| CN106597843A | 2017-04-26 | |||
| US9498401B2 | 2016-11-22 |
Attorney, Agent or Firm:
UNITALEN ATTORNEYS AT LAW (CN)
Download PDF: