CN111469130A - Robot control method and device, storage medium and processor - Google Patents
Robot control method and device, storage medium and processor Download PDFInfo
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- CN111469130A CN111469130A CN202010340807.5A CN202010340807A CN111469130A CN 111469130 A CN111469130 A CN 111469130A CN 202010340807 A CN202010340807 A CN 202010340807A CN 111469130 A CN111469130 A CN 111469130A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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Abstract
The invention discloses a control method and device of a robot, a storage medium and a processor. The invention comprises the following steps: collecting motion parameters of the robot; carrying out error compensation on the motion parameters and obtaining control parameters; calculating the pose parameters of the robot according to the control parameters; and controlling the robot to execute corresponding actions according to the pose parameters. According to the invention, the technical problem of low stability of motion control of the industrial robot in the related technology is solved.
Description
Technical Field
The invention relates to the field of robot control, in particular to a robot control method and device, a storage medium and a processor.
Background
In the related technology, the robot industry is developed towards intellectualization, but the stability of most robots in the operation process is not high, and most of the existing robot control systems are designed based on external physical quantity control, namely, a plurality of sensors are additionally arranged in equipment to collect external information, and an action control instruction is sent to a controller through algorithm calculation, so that the control of the robot is realized.
Because the information that the sensor gathered receives external or sensor self factor, there are deviation and noise in the data that the sensor measured, therefore, industrial robot's motion control stability among the relevant art is not high.
In view of the above problems in the related art, no effective solution has been proposed.
Disclosure of Invention
The invention mainly aims to provide a robot control method and device, a storage medium and a processor, so as to solve the technical problem that the stability of motion control of an industrial robot in the related technology is not high.
In order to achieve the above object, according to one aspect of the present invention, there is provided a control method of a robot. The invention comprises the following steps: collecting motion parameters of the robot; carrying out error compensation on the motion parameters and obtaining control parameters; calculating the pose parameters of the robot according to the control parameters; and controlling the robot to execute corresponding actions according to the pose parameters.
Further, before collecting the motion parameters of the robot, the method further comprises: and tracking and calibrating the position of the robot through a laser sensor, wherein the laser sensor is arranged in the robot.
Further, the collecting of the motion parameters of the robot comprises: according to the tracking calibration, the laser sensor outputs motion parameters, wherein the laser sensor at least comprises the following components: the range finder, accelerometer, magnetometer, gyroscope, the motion parameter includes at least the following: distance, acceleration, steering angle, and angular velocity.
Further, the error compensation of the motion parameters and the obtaining of the control parameters includes: amplifying the motion parameters through an amplifying circuit; carrying out error resistance compensation operation on the amplified motion parameters, and converting the motion parameters into control voltage, wherein the amplifying circuit comprises a controller, a GND end of the controller is provided with a DC blocking capacitor, and the DC blocking capacitor carries out error compensation on the motion parameters; and determining a control parameter according to the control voltage.
Further, calculating the pose parameters of the robot according to the control parameters comprises: calculating pose parameters according to the control parameters, wherein the pose parameters at least comprise the following: position, acceleration, steering angle, and gyroscope angle.
In order to achieve the above object, according to another aspect of the present invention, there is provided a control apparatus of a robot. The device includes: the sensor module is used for acquiring the motion parameters of the robot; the AD module is used for carrying out error compensation on the motion parameters and obtaining control parameters; the central processing module is used for calculating the pose parameters of the robot according to the control parameters; and the actuator is used for controlling the corresponding action of the robot according to the pose parameters.
In order to achieve the above object, according to another aspect of the present invention, there is provided a storage medium, wherein the storage medium includes a stored program that executes the above-described control method of the robot.
In order to achieve the above object, according to another aspect of the present invention, there is provided a processor for executing a program that executes the control method of the robot described above.
The invention adopts the following steps: collecting motion parameters of the robot; carrying out error compensation on the motion parameters and obtaining control parameters; calculating the pose parameters of the robot according to the control parameters; according to the pose parameters, the robot is controlled to execute corresponding actions, the technical problem that the stability of motion control of the industrial robot in the related technology is not high is solved, and the technical effect of improving the action stability of the robot is achieved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a control method of a robot according to an embodiment of the present invention; and
fig. 2 is a diagram of an AD amplifier circuit according to an embodiment of the present invention;
fig. 3 is a schematic diagram of error compensation of a motion parameter of a robot provided according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a control device of a robot according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the present invention, there is provided a control method of a robot.
Fig. 1 is a flowchart of a control method of a robot according to an embodiment of the present invention. As shown in fig. 1, the present invention comprises the steps of:
and step S101, collecting the motion parameters of the robot.
And S102, carrying out error compensation on the motion parameters and obtaining control parameters.
And step S103, calculating the pose parameters of the robot according to the control parameters.
And step S104, controlling the robot to execute corresponding actions according to the pose parameters.
Specifically, the intelligent robot control meets the requirement of specific work in a humanoid mode on the basis of the traditional industrial robot, and improves the operation sensitivity of the robot and the fusion tracking control capability of the attitude inertial parameters of the robot by optimally controlling the pose parameters of the robot. In the actual operation process, the actions of the robot mainly include mechanical motion actions similar to human bodies such as tracking, grabbing and the like, but in the actual operation, the actions of the robot are influenced by a plurality of internal or external factors, so that the operation stability of the robot is reduced. Therefore, an automatic adjusting mechanism needs to be arranged in the robot control system during design.
In the application, the laser sensor is used as a basic control and regulation mechanism, the motion parameters of the robot are collected through the laser sensor, and the robot control system estimates and regulates the motion parameters (namely, performs error compensation on the motion parameters) after receiving the motion parameters, so that the control delay of the robot is reduced, and the motion stability of the robot is further improved.
The embodiment of the invention provides a control method of a robot, which comprises the steps of collecting motion parameters of the robot; carrying out error compensation on the motion parameters and obtaining control parameters; calculating the pose parameters of the robot according to the control parameters; according to the pose parameters, the robot is controlled to execute corresponding actions, the technical problem that the stability of motion control of the industrial robot in the related technology is not high is solved, and the technical effect of improving the action stability of the robot is achieved.
Optionally, before acquiring the motion parameters of the robot, the method further comprises: and tracking and calibrating the position of the robot through a laser sensor, wherein the laser sensor is arranged in the robot.
Specifically, the laser sensor is adopted as a basic control and regulation mechanism, the laser sensor is arranged in the robot to collect motion parameters, the control system calculates, estimates and regulates the motion parameters sent by the sensor, so that the stability of the robot is improved,
optionally, the collecting the motion parameters of the robot comprises: according to the tracking calibration, the laser sensor outputs motion parameters, wherein the laser sensor at least comprises the following components: the range finder, accelerometer, magnetometer, gyroscope, the motion parameter includes at least the following: distance, acceleration, steering angle, and angular velocity.
Furthermore, the motion track and the position of the robot are calibrated through a laser sensor arranged in the robot, wherein the laser sensor at least comprises a distance meter, an accelerometer, a magnetometer and a gyroscope, and the motion parameters of the robot, including the distance between the robot and an object to be processed of the robot, the motion acceleration of the robot, the steering angle of the robot and the angular velocity of the robot, can be obtained by calibrating the motion track of the robot through the distance meter, the accelerometer, the magnetometer and the gyroscope respectively.
It should be noted that the laser sensors calibrate the trajectory of the robot, that is, each laser sensor emits a series of light beams to obtain the positioning times of light spots and information acquisition directions to track and calibrate an object, the distance, the acceleration, the steering angle and the angular velocity of the robot are calculated by using a mathematical method and a robot motion model and sensing by using a distance meter, an accelerometer, a magnetometer and a gyroscope to obtain the position information of the robot, and the position information of the robot is continuously updated along with the continuous motion of the robot, so that the tracking and calibration of the robot are realized.
Optionally, the error compensating the motion parameter and obtaining the control parameter includes: amplifying the motion parameters through an amplifying circuit; carrying out error resistance compensation operation on the amplified motion parameters, and converting the motion parameters into control voltage, wherein the amplifying circuit comprises a controller, a GND end of the controller is provided with a DC blocking capacitor, and the DC blocking capacitor carries out error compensation on the motion parameters; and determining a control parameter according to the control voltage.
Specifically, due to the external environment and factors of the sensor itself, there are deviations, noise, etc. in the data measured by the sensor, and therefore, after the position of the robot is calibrated by the laser sensor, the motion parameters of the robot need to be subjected to error compensation to eliminate the deviation and noise of the acquired data, in the embodiment, an AD amplifier circuit is provided, where the AD amplifier circuit is mainly responsible for data transmission of a control system and communicates data connections among various parts, the AD amplifier circuit is an important amplification end of signals of the whole system, the control is realized by DSP (DSP mainly aiming at some applications with higher computing power requirements, such as video image processing, intelligent robots, digital wireless, broadband access, digital audio, high-resolution imaging, digital motor control and the like), and the control conversion is realized by additionally arranging a controller in a secondary amplifying circuit. As shown in fig. 2, the AD amplifier circuit is designed to perform error compensation on the control command by setting a dc blocking capacitor at the GND terminal of the VCA810 controller, so as to improve the amplification gain of the robot control system, achieve man-machine matching of the robot intelligent control system, and reduce the output error.
Furthermore, the laser sensor is responsible for collecting relevant physical information and analyzing the physical information, the photosensitive element is a main device of the laser sensor, each sensor is also a basis for intelligent control of the robot, data of the AD amplifying circuit is comprehensively amplified, and control signals are converted into control voltages through resistance compensation errors, so that all-dimensional compensation control of the errors is realized. The information acquisition adopts a filtering algorithm to analyze different input information, and adopts a multi-sensor fusion mode to perform information fusion so as to ensure the stable control of the action information. Meanwhile, the central processing module plays a vital role, is responsible for coordinating other constructions, processes and analyzes key information, and utilizes the filter to perform clock reset and pointer oscillation.
It should be noted that, in this embodiment, since the AD amplifying circuit amplifies the data converted from the motion parameters collected by the sensor, the robot control signal is converted into the control voltage (in the circuit, the control factors are only voltage and current) by calculation and robot control rate calculation, and then the error is compensated by the resistor.
Optionally, calculating the pose parameters of the robot according to the control parameters includes: calculating pose parameters according to the control parameters, wherein the pose parameters at least comprise the following: position, acceleration, steering angle, and gyroscope angle.
The above-mentioned all-round compensation of error has been realized after converting the motion parameter that laser sensor gathered into control voltage, and adopt digital filtering technique and dynamic kalman filter algorithm to carry out the online estimation output to the position appearance (position, acceleration, steering angle, gyroscope angle) of robot, DSP intelligent processing chip carries out integrated processing to the data that the sensor output, central processing module carries out analysis processes to key information, the controller sends data information to the executor, the executor can carry out corresponding instruction and adjust the position appearance parameter of robot, finally control the robot body and do corresponding motion, the specific schematic diagram to the error compensation of the motion parameter of robot is shown in fig. 3.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
The embodiment of the present invention further provides a control device for a robot, and it should be noted that the control device for a robot according to the embodiment of the present invention may be used to execute the control method for a robot according to the embodiment of the present invention. A control device for a robot according to an embodiment of the present invention will be described below.
Fig. 4 is a schematic diagram of a control device of a robot according to an embodiment of the present invention. As shown in fig. 4, the apparatus includes: a sensor module 401, including a plurality of laser sensors, for acquiring motion parameters of the robot; the AD module 402 includes an amplifying circuit, configured to perform error compensation on the motion parameter and obtain a control parameter; the central processing module 403 is configured to calculate pose parameters of the robot according to the control parameters; and the actuator 404 is used for controlling the corresponding action of the robot according to the pose parameters.
The control device of the robot provided by the embodiment of the invention comprises a plurality of laser sensors through a sensor module 401, wherein the laser sensors are used for acquiring the motion parameters of the robot; the AD module 402 includes an amplifying circuit, configured to perform error compensation on the motion parameter and obtain a control parameter; the central processing module 403 is configured to calculate pose parameters of the robot according to the control parameters; the actuator 404 is configured to control corresponding actions of the robot according to the pose parameters, so that the technical problem of low stability of motion control of the industrial robot in the related art is solved, and the technical effect of improving the action stability of the robot is achieved.
Optionally, the sensor module 401 is further configured to track and calibrate the position of the robot through a laser sensor before acquiring the motion parameters of the robot, where the laser sensor is disposed inside the robot.
Optionally, the sensor module 401 comprises: the output submodule is used for outputting the motion parameters through the laser sensor according to the tracking calibration, wherein the laser sensor at least comprises the following components: the range finder, accelerometer, magnetometer, gyroscope, the motion parameter includes at least the following: distance, acceleration, steering angle, and angular velocity.
Optionally, the AD module 402 includes: the amplifying submodule is used for amplifying the motion parameters through the amplifying circuit; the conversion submodule is used for carrying out error resistance compensation operation on the amplified motion parameters and converting the motion parameters into control voltage, wherein the amplification circuit comprises a controller, a GND end of the controller is provided with a DC blocking capacitor, and the DC blocking capacitor carries out error compensation on the motion parameters; and the determining submodule is used for determining the control parameter according to the control voltage.
Optionally, the central processing module 403 includes: the calculation submodule is used for calculating pose parameters according to the control parameters, wherein the pose parameters at least comprise the following: position, acceleration, steering angle, and gyroscope angle.
The control device of the robot comprises a processor and a memory, wherein the sensor module 401 and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the technical problem that the stability of the motion control of the industrial robot in the related technology is not high is solved by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a storage medium having a program stored thereon, the program implementing a control method of a robot when executed by a processor.
The embodiment of the invention provides a processor, which is used for running a program, wherein the program executes a control method of a robot when running.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor executes the program and realizes the following steps: collecting motion parameters of the robot; carrying out error compensation on the motion parameters and obtaining control parameters; calculating the pose parameters of the robot according to the control parameters; and controlling the robot to execute corresponding actions according to the pose parameters.
Optionally, before acquiring the motion parameters of the robot, the method further comprises: and tracking and calibrating the position of the robot through a laser sensor, wherein the laser sensor is arranged in the robot.
Optionally, the collecting the motion parameters of the robot comprises: according to the tracking calibration, the laser sensor outputs motion parameters, wherein the laser sensor at least comprises the following components: the range finder, accelerometer, magnetometer, gyroscope, the motion parameter includes at least the following: distance, acceleration, steering angle, and angular velocity.
Optionally, the error compensating the motion parameter and obtaining the control parameter includes: amplifying the motion parameters through an amplifying circuit; carrying out error resistance compensation operation on the amplified motion parameters, and converting the motion parameters into control voltage, wherein the amplifying circuit comprises a controller, a GND end of the controller is provided with a DC blocking capacitor, and the DC blocking capacitor carries out error compensation on the motion parameters; and determining a control parameter according to the control voltage.
Optionally, calculating the pose parameters of the robot according to the control parameters includes: calculating pose parameters according to the control parameters, wherein the pose parameters at least comprise the following: position, acceleration, steering angle, and gyroscope angle. The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The invention also provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: collecting motion parameters of the robot; carrying out error compensation on the motion parameters and obtaining control parameters; calculating the pose parameters of the robot according to the control parameters; and controlling the robot to execute corresponding actions according to the pose parameters.
Optionally, before acquiring the motion parameters of the robot, the method further comprises: and tracking and calibrating the position of the robot through a laser sensor, wherein the laser sensor is arranged in the robot.
Optionally, the collecting the motion parameters of the robot comprises: according to the tracking calibration, the laser sensor outputs motion parameters, wherein the laser sensor at least comprises the following components: the range finder, accelerometer, magnetometer, gyroscope, the motion parameter includes at least the following: distance, acceleration, steering angle, and angular velocity.
Optionally, the error compensating the motion parameter and obtaining the control parameter includes: amplifying the motion parameters through an amplifying circuit; carrying out error resistance compensation operation on the amplified motion parameters, and converting the motion parameters into control voltage, wherein the amplifying circuit comprises a controller, a GND end of the controller is provided with a DC blocking capacitor, and the DC blocking capacitor carries out error compensation on the motion parameters; and determining a control parameter according to the control voltage.
Optionally, calculating the pose parameters of the robot according to the control parameters includes: calculating pose parameters according to the control parameters, wherein the pose parameters at least comprise the following: position, acceleration, steering angle, and gyroscope angle.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present invention, and are not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. A method for controlling a robot, comprising:
collecting motion parameters of the robot;
carrying out error compensation on the motion parameters and obtaining control parameters;
calculating the pose parameters of the robot according to the control parameters;
and controlling the robot to execute corresponding actions according to the pose parameters.
2. The method of claim 1, wherein prior to acquiring the motion parameters of the robot, the method further comprises:
and tracking and calibrating the position of the robot through a laser sensor, wherein the laser sensor is arranged in the robot.
3. The method of claim 2, wherein collecting the motion parameters of the robot comprises:
outputting the motion parameters by the laser sensor according to the tracking calibration, wherein the laser sensor at least comprises the following components: the device comprises a distance meter, an accelerometer, a magnetometer and a gyroscope, wherein the motion parameters at least comprise the following parameters: distance, acceleration, steering angle, and angular velocity.
4. The method of claim 1, wherein error compensating the motion parameters and deriving control parameters comprises:
amplifying the motion parameters through an amplifying circuit;
carrying out error resistance compensation operation on the amplified motion parameters, and converting the motion parameters into control voltage, wherein the amplifying circuit comprises a controller, a GND end of the controller is provided with a DC blocking capacitor, and the DC blocking capacitor carries out error compensation on the motion parameters;
and determining the control parameter according to the control voltage.
5. The method of claim 1, wherein calculating pose parameters of the robot as a function of the control parameters comprises:
calculating the pose parameters according to the control parameters, wherein the pose parameters at least comprise the following: position, acceleration, steering angle, and gyroscope angle.
6. A control device for a robot, comprising:
the sensor module comprises a plurality of laser sensors and is used for acquiring the motion parameters of the robot;
the AD module comprises an amplifying circuit and is used for carrying out error compensation on the motion parameters and obtaining control parameters;
the central processing module is used for calculating the pose parameters of the robot according to the control parameters;
and the actuator is used for controlling the corresponding action of the robot according to the pose parameters.
7. The device of claim 6, wherein the sensor module is further configured to track and calibrate the position of the robot through a laser sensor before acquiring the motion parameters of the robot, wherein the laser sensor is disposed inside the robot.
8. The apparatus of claim 7, wherein the sensor module comprises:
an output sub-module, configured to output the motion parameter through the laser sensor according to the tracking calibration, where the laser sensor at least includes the following: the device comprises a distance meter, an accelerometer, a magnetometer and a gyroscope, wherein the motion parameters at least comprise the following parameters: distance, acceleration, steering angle, and angular velocity.
9. A storage medium characterized by comprising a stored program, wherein the program executes a control method of a robot according to any one of claims 1 to 5.
10. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute a method of controlling a robot according to any one of claims 1 to 5 when running.
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| CN202010340807.5A CN111469130A (en) | 2020-04-26 | 2020-04-26 | Robot control method and device, storage medium and processor |
| PCT/CN2020/139941 WO2021218212A1 (en) | 2020-04-26 | 2020-12-28 | Robot control method and apparatus, and storage medium and processor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021218212A1 (en) * | 2020-04-26 | 2021-11-04 | 珠海格力智能装备有限公司 | Robot control method and apparatus, and storage medium and processor |
| CN114815795A (en) * | 2021-01-28 | 2022-07-29 | 广州视源电子科技股份有限公司 | Robot control method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114750173A (en) * | 2022-03-04 | 2022-07-15 | 国网安徽省电力有限公司电力科学研究院 | Grabbing control method for live working robot |
| CN114952861B (en) * | 2022-06-27 | 2024-05-03 | 西南交通大学 | Robot kinematics parameter error accurate identification method based on pose measurement data |
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