CN-117901113-B - Residual vibration control method, device, equipment and storage medium

CN117901113BCN 117901113 BCN117901113 BCN 117901113BCN-117901113-B

Abstract

The invention discloses a residual vibration control method, a residual vibration control device, residual vibration control equipment and a storage medium. The method comprises the steps of obtaining a track type of a current moment of a robot, determining a first movement rate planning value and a first joint angle if the track type of the current moment is a first movement track type, wherein the first movement track type comprises a Cartesian joint fusion movement track type and/or a joint-to-Cartesian fusion movement track type, shaping the first movement rate planning value and the first joint angle through an input shaper to obtain a first movement rate shaping value and a first angle shaping value, determining a pose of the current moment of the robot based on the first Cartesian pose and a second Cartesian pose, determining the first Cartesian pose based on the first angle shaping value, determining the second Cartesian pose based on the first movement rate shaping value, and determining the speed and the acceleration of the current moment of the robot according to the pose of the current moment to control residual vibration of the robot. The residual vibration control precision and the practicability are effectively improved.

Inventors

LIU KE
WANG YUXING
LI FASHE
CHEN HONGWEI
YANG LI

Assignees

中科新松有限公司

Dates

Publication Date: 20260505
Application Date: 20240207

Claims (10)

1. A residual vibration control method, characterized by comprising: acquiring the track type of the robot at the current moment; If the track type at the current moment is a first motion track type, determining a first motion rate planning value and a first joint angle, wherein the first motion track type comprises a Cartesian-to-joint fusion motion track type and/or a joint-to-Cartesian fusion motion track type; the first movement rate planning value and the first joint angle are shaped through an input shaper, and a first movement rate shaping value and a first angle shaping value are obtained; Determining a pose of the robot at a current moment based on a first cartesian pose and a second cartesian pose, wherein the first cartesian pose is determined based on the first angular shaping value and the second cartesian pose is determined based on the first motion rate shaping value; And determining the speed and the acceleration of the robot at the current moment according to the pose of the current moment so as to control the residual vibration of the robot.
2. The method of claim 1, wherein determining a first motion rate plan value if the current trajectory type is a first motion trajectory type comprises: if the track type at the current moment is the joint-to-Cartesian fusion motion track type, taking a first motion rate instruction value as a first motion rate planning value, wherein the first motion rate instruction value is determined through a track planning algorithm; And if the track type at the current moment is the Cartesian joint fusion motion track type, adding a motion rate planning value corresponding to the ending moment of the previous Cartesian motion track type with a second motion rate instruction value corresponding to the track type at the current moment to obtain a first motion rate planning value, wherein the second motion rate instruction value is determined through the track planning algorithm.
3. The method of claim 1, wherein the determining the pose of the robot at the current time based on the first and second cartesian poses comprises: determining a first transition parameter and a second transition parameter by using a fifth-order polynomial programming algorithm; calculating a first product of the first transition parameter and the first cartesian pose; Calculating a second product of the second transition parameter and the second cartesian pose; And determining the sum of the first product and the second product as the pose of the current moment.
4. The method as recited in claim 1, further comprising: If the track type at the current moment is a second motion track type, adding a motion rate planning value corresponding to the ending moment of the previous segment of Cartesian motion type with a third motion rate instruction value corresponding to the second motion track type to obtain a second motion rate planning value, wherein the second motion track type comprises Cartesian fusion motion track types, and the third motion rate instruction value is determined through a track planning algorithm; shaping the second motion rate planning value through the input shaper to obtain a second motion rate shaping value; and determining the pose of the robot at the current moment based on a third Cartesian pose, wherein the third Cartesian pose is determined based on the second motion rate shaping value.
5. The method as recited in claim 4, further comprising: If the track type at the current moment is a third motion track type, adding a motion rate planning value corresponding to the ending moment of the previous track type with a fourth motion rate instruction value corresponding to the third motion track type when the previous track type is the first motion track type or the second motion track type to obtain a third motion rate planning value, wherein the third motion track type comprises a Cartesian motion track type, and the fourth motion rate instruction value is determined through a track planning algorithm; Shaping the third movement rate planning value through the input shaper to obtain a third movement rate shaping value; And determining the pose of the robot at the current moment based on a fourth Cartesian pose, wherein the fourth Cartesian pose is determined based on the third motion rate shaping value.
6. The method as recited in claim 1, further comprising: If the track type at the current moment is a fourth motion track type, the second joint angle is shaped through the input shaper to obtain a second angle shaping value, wherein the fourth motion track type comprises an articulation track type and an articulation joint fusion motion track type, and the second joint angle is determined through a track planning algorithm; and determining the pose of the robot at the current moment based on a fifth Cartesian pose, wherein the fifth Cartesian pose is determined based on the second angle shaping value.
7. The method of any of claims 1-6, wherein the input shaper comprises a joint shaper for shaping joint angles and a motion rate shaper for shaping motion rate planning values.
8. A residual vibration control device, characterized by comprising: the type acquisition module is used for acquiring the track type of the robot at the current moment; The data determining module is used for determining a first motion rate planning value and a first joint angle if the track type at the current moment is a first motion track type, wherein the first motion track type comprises a Cartesian-joint fusion motion track type and/or a joint-to-Cartesian fusion motion track type; The shaping value determining module is used for shaping the first movement rate planning value and the first joint angle through an input shaper to obtain a first movement rate shaping value and a first angle shaping value; The pose determining module is used for determining the pose of the robot at the current moment based on a first Cartesian pose and a second Cartesian pose, wherein the first Cartesian pose is determined based on the first angle shaping value, and the second Cartesian pose is determined based on the first motion rate shaping value; and the speed determining module is used for determining the speed and the acceleration of the robot at the current moment according to the pose at the current moment so as to control the residual vibration of the robot.
9. A residual vibration control apparatus, characterized by comprising: at least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the residual vibration control method according to any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the residual vibration control method as claimed in any one of claims 1-7.

Description

Residual vibration control method, device, equipment and storage medium Technical Field The embodiment of the invention relates to the technical field of robots, in particular to a residual vibration control method, a residual vibration control device, residual vibration control equipment and a storage medium. Background When the robot moves, the start-stop stage of the robot has obvious residual vibration, and the residual vibration has great influence on the movement precision and control performance of the robot. Most of the currently commonly used methods for controlling the residual vibration of the robot are off-line vibration control methods or path-based input shaping methods. However, the current residual vibration control method generally has the problems that the residual vibration control precision is low, the shaping of the cross-space fusion path cannot be realized, and the practicability is low. Disclosure of Invention The invention provides a residual vibration control method, a device, equipment and a storage medium, which are used for solving the problem that the current residual vibration control method is low in residual vibration control precision and low in practicality because the shaping of a cross-space fusion path cannot be realized. According to an aspect of the present invention, there is provided a residual vibration control method including: acquiring the track type of the robot at the current moment; If the track type at the current moment is a first motion track type, determining a first motion rate planning value and a first joint angle, wherein the first motion track type comprises a Cartesian-to-joint fusion motion track type and/or a joint-to-Cartesian fusion motion track type; the first movement rate planning value and the first joint angle are shaped through an input shaper, and a first movement rate shaping value and a first angle shaping value are obtained; Determining a pose of the robot at a current moment based on a first cartesian pose and a second cartesian pose, wherein the first cartesian pose is determined based on the first angular shaping value and the second cartesian pose is determined based on the first motion rate shaping value; And determining the speed and the acceleration of the robot at the current moment according to the pose of the current moment so as to control the residual vibration of the robot. According to another aspect of the present invention, there is provided a residual vibration control apparatus including: the type acquisition module is used for acquiring the track type of the robot at the current moment; The data determining module is used for determining a first motion rate planning value and a first joint angle if the track type at the current moment is a first motion track type, wherein the first motion track type comprises a Cartesian-joint fusion motion track type and/or a joint-to-Cartesian fusion motion track type; The shaping value determining module is used for shaping the first movement rate planning value and the first joint angle through an input shaper to obtain a first movement rate shaping value and a first angle shaping value; The pose determining module is used for determining the pose of the robot at the current moment based on a first Cartesian pose and a second Cartesian pose, wherein the first Cartesian pose is determined based on the first angle shaping value, and the second Cartesian pose is determined based on the first motion rate shaping value; and the speed determining module is used for determining the speed and the acceleration of the robot at the current moment according to the pose at the current moment so as to control the residual vibration of the robot. According to another aspect of the present invention, there is provided a residual vibration control apparatus including: at least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the residual vibration control method according to any one of the embodiments of the present invention. According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute the residual vibration control method according to any one of the embodiments of the present invention. The technical scheme includes that a track type of a current moment of a robot is obtained, if the track type of the current moment is a first motion track type, a first motion rate planning value and a first joint angle are determined, the first motion track type comprises a Cartesian joint fusion motion track type and/or a joint-to-Cartesian fusion motion track type, the first motion rate planning value and the first joint angle are shaped through an input shaper to obtain a first motion rate shaping value and a first angle shaping val