Robot emergency braking method, device and equipment and storage medium

• Main Authors: LIAO JUN, LIANG RUIHAO, WANG DONG, ZHAO WEIFENG
• Format: Patent
• Language: Chinese; English
• Published: 28.07.2023
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention provides a robot emergency braking method, device and equipment and a storage medium, and relates to the technical field of robot control, the robot emergency braking method is applied to a robot, the robot comprises joints and drivers corresponding to the joints, and the drivers are used for providing power and braking force for the corresponding joints; the robot emergency braking method comprises the steps that a robot braking instruction is obtained, wherein the robot braking instruction comprises a braking request instruction and an emergency braking instruction; when the braking request instruction is obtained, all the drivers are controlled to decelerate based on the maximum acceleration of the corresponding joints, and all the drivers are closed until the angular velocity of all the joints is zero; and when the emergency braking instruction is obtained, the drivers are immediately controlled to be closed, so that the robot is controlled to stop moving. 本申请提供一种机器人紧急制动方法、装置、设备及存储介质，涉及机器人控制