Robot control method and device through singular point, equipment and storage medium

• Main Authors: ZHOU JIAJI, HU BOTAO, LIU XIANG
• Format: Patent
• Language: Chinese; English
• Published: 24.05.2024
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention provides a robot control method, device and equipment through singular points and a storage medium, and the method comprises the steps: generating a motion track of an execution joint according to a starting pose and a target pose of the execution joint of a robot; wherein the motion track of the execution joint comprises a plurality of track points; determining whether a joint angle corresponding to each track point is in a singular interval, and if the joint angle is in the singular interval, marking the track point as a transition point; and performing sectional control on the motion of the execution joint passing through the transition point so as to limit the rotation speed of the execution joint passing through the transition point section. According to the method, the problems that the joint rotation speed is too high, a robot system reports errors, an execution end cannot accurately reach a target position and the like when the robot passes through a singular point can be avoided through