Method and terminal for making physical robot actions

Abstract

The invention provides a method and a terminal for making physical robot actions. The method comprises the following steps of: exporting a urdf description file of a physical robot from SolidWorks; importing the urdf description file into Unity, creating a 3D entity robot initial model according to the urdf description file, and exporting a first 3D model with skeleton information; importing the first 3D model into 3DMax, reconstructing a skeleton for the first 3D model according to the skeleton information, and performing skin covering to generate a second 3D model; making robot actions on the second 3D model based on a skeleton rotation limiting plug-in to perform rotation limiting, and then generating an action file; and exporting the action file as a motor data file to the physical robot. According to the method, the actions of the robot are made in the 3DMax and exported as the motor data to be executed by the physical robot, the action production period is shortened, and a more convenient and rapid physical robot action making mode is achieved.

Description

technical field [0001] The present invention relates to the technical field of robot applications, in particular to a method and terminal for making physical robot actions. Background technique [0002] When the physical robot performs behavior expression, it needs to control multiple motors inside the robot to execute at the specified speed. However, the data for controlling the motor speed needs to be prepared in advance, so a type of tool is needed to generate motor data corresponding to different actions, so that it can be used for The physical robot customizes various human actions. [0003] In the prior art, the method of manually placing the robot structure is usually used to record the motor data and export the action file, which has the following disadvantages: [0004] 1. Unnatural movement: Due to the way of directly placing the various structures of the physical robot, the structure of the physical robot itself is complex. When expressing complex behaviors, the ...

AI Technical Summary

Problems solved by technology

[0004] 1. Unnatural movement: due to the way of directly placing the various structures of the physical robot, the structure of the physical robot itself is complex. When expressing complex behaviors, the coherence of multiple structures cannot be guaranteed, resulting in unnatural movements

[0005] 2. Difficulty in production: When placing the physical robot structure manually, it is impossible to preview the entire action, which makes it very difficult to make the action. Only after recording a complete set of actions can you preview. If the preview effect is not satisfactory, you can only re-record it, which will cause Repetition is time-consuming, which greatly increases the difficulty and cost of production

[0006] 3. Cannot be mass-produced: Every customized action needs to be recorded on the physical robot body. The requirements for the personnel who manufacture the action are high. When a large number of actions need to be customized, the efficiency is very low.

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