Title:
ROBOT MOTION CONTROL METHOD, CONTROL SYSTEM AND STORAGE DEVICE
Document Type and Number:
WIPO Patent Application WO/2020/093253
Kind Code:
A1
Abstract:
A robot motion control method, a control system and a storage device, the method comprising: acquiring planned trajectories and planned orientations of first and second planned movements of a robot end effector, the first planned movement starting at a turning-out point and ending at an intermediate point, and the second planned movement starting at the intermediate point and ending at a turning-in point (S101); determining the turning-out point to be a first feature point, determining a point between the turning-out point and the intermediate point within the first planned movement to be a second feature point, determining a point between the intermediate point and the turning-in point within the second planned movement to be a third feature point, and determining the turning-in point to be a fourth feature point (S102); and determining a planned orientation of a transition motion of the robot end effector according to the planned orientations of the robot end effector at the first to fourth feature points, the transition motion starting at the turning-out point and ending at the turning-in point (S103).
Inventors:
ZHANG ZHIMING (CN)
Application Number:
PCT/CN2018/114221
Publication Date:
May 14, 2020
Filing Date:
November 06, 2018
Export Citation:
Assignee:
SHENZHEN A & E INTELLIGENT TECH INST CO LTD (CN)
International Classes:
G05D1/02; B25J9/16
Foreign References:
| CN107980108A | 2018-05-01 | |||
| CN107030697A | 2017-08-11 | |||
| CN106346478A | 2017-01-25 | |||
| CN105171743A | 2015-12-23 | |||
| CN107717985A | 2018-02-23 | |||
| US20040133309A1 | 2004-07-08 |
Attorney, Agent or Firm:
CHINA WISPRO INTELLECTUAL PROPERTY LLP. (CN)
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