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Patent Searching and Data


Title:
ROBOT TRAJECTORY TRACKING CONTROL METHOD, MAGNETIC MEDICAL ROBOT AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2023/077618
Kind Code:
A1
Abstract:
The present application relates to the field of robot trajectory tracking control. Disclosed are a robot trajectory tracking control method, a magnetic medical robot and a storage medium. The method comprises: acquiring the actual motion trajectory coordinates of a robot that are based on an actual motion parameter, and reference trajectory coordinates; calculating a coordinate error between the actual trajectory coordinates and the reference trajectory coordinates; performing optimization iteration on the actual motion parameter of the robot by taking the minimization of the coordinate error as an iteration target, so as to obtain an optimized motion parameter, wherein the initial value of each iteration uses an optimized value of the previous iteration; and on the basis of the optimized motion parameter, controlling the robot to move. In this way, by means of the present application, the control precision and stability of a robot can be improved.

Inventors:
LIU JIA (CN)
LI HUIYUN (CN)
HUANG ZHEJUN (CN)
YANG ZHIHENG (CN)
DANG SHAOBO (CN)
PAN ZHONGMING (CN)
Application Number:
PCT/CN2021/137811
Publication Date:
May 11, 2023
Filing Date:
December 14, 2021
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Assignee:
SHENZHEN INST OF ADV TECH CAS (CN)
International Classes:
G05B13/04
Foreign References:
CN112650217A2021-04-13
CN110948504A2020-04-03
CN112947430A2021-06-11
US20190321976A12019-10-24
Attorney, Agent or Firm:
BEIJING ZHONG XUN TONG DA INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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