Title:
ROBOT MOTION CONTROL METHOD AND RELATED APPARATUS
Document Type and Number:
WIPO Patent Application WO/2018/119745
Kind Code:
A1
Abstract:
A robot motion control method and related apparatus. According to the method, an n-order (n is an integer not less than 4) Bezier curve of path is used as a smooth trajectory of a robot moving from an anterior trajectory to a posterior trajectory, and an n-order Bezier curve of time is used to plan the speed of the motion. The planned speed is used to determine position points to which the robot has to move within each control cycle. All the position points form the described smooth trajectory. The method has higher control accuracy and wider application range, and ensures that the motion speed and acceleration of the robot on the smooth trajectory are both continuous.
Inventors:
ZHANG ZHIMING (CN)
Application Number:
PCT/CN2016/112635
Publication Date:
July 05, 2018
Filing Date:
December 28, 2016
Export Citation:
Assignee:
SHENZHEN A & E SMART INST CO LTD (CN)
International Classes:
G05D1/00
Foreign References:
| CN102207736A | 2011-10-05 | |||
| CN102129710A | 2011-07-20 | |||
| CN103180791A | 2013-06-26 | |||
| DE102010012750A1 | 2011-09-29 |
Attorney, Agent or Firm:
UNITALEN ATTORNEYS AT LAW (CN)
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