Motion parameter processing method, device and system and storage medium

Abstract

The embodiment of the invention provides a motion parameter processing method, device and system and a storage medium. The method includes the steps that a motion parameter sequence of a target jointis obtained; whether direction changing parameter sets exist in the motion parameter sequence or not is detected; each direction changing parameter set includes motion parameters making the motion direction of a motion part changed, wherein three time data of the motion parameters are adjacent; and if at least one direction changing parameter set is detected, at least one direction changing motionparameter is inserted in each of at least one direction changing parameter set so as to obtain a new motion parameter sequence, and at least one direction changing motion parameter is used for indicating the return clearance generated when the motion part completes direction changing in preset time. The direction changing motion parameter is inserted in the motion parameters making the motion direction of the motion part changed so that the return clearance can be compensated for, the displacement accuracy of the motion part can be better ensured, and it can be better ensured that a robot reaches the set position with the set speed within set time.

Description

technical field [0001] The present invention relates to the technical field of motion control, and more particularly relates to a processing method, device, system and storage medium of motion parameters. Background technique [0002] In a motion control system based on a robot (such as a robotic arm) or similar technology, the device to be controlled (such as a robot, etc.) establishes a connection relationship with the robot control device (such as a host computer, etc.), and the user can control the movement of the robot through the robot control device. [0003] The user edits a set of motion parameters, which can be used to control the motion of the robot. For example, the robot can grab an object from point A and place it at point B to carry the object. [0004] A certain joint of the robot may have the action of "reversing" in a complete action. Combine below figure 1 Describe the commutation action. figure 1 A schematic diagram of a robot 100 according to an examp...

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Problems solved by technology

[0005] The above reversing process may have the following problems: due to the gap in the mechanical structure (there is a gap between the gears of the reducer, etc.), this gap (which can be called the backlash or backlash) will affect the moving parts (such as The accuracy of the displacement of the motor) makes the robot unable to reach the set position at the set time and at the set speed

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