The invention discloses a robot motion control method and device, a robot and a storage medium, and relates to the technical field of robot control of artificial intelligence. The method comprises the following steps: on the basis of a target state to be reached by target motion to be executed by a robot, joint expected motion data of each joint of the robot in a specific time interval in the future is obtained through optimization of a nonlinear model predictive control algorithm according to a target function; obtaining joint execution torque of each joint of the robot according to the joint expected motion data; and all joints of the robot are controlled to move through the joint execution torque, so that the robot moves to the target state. The robot can be controlled to complete target motion according to expectation, and the motion ability of the robot is enriched; and moreover, a nonlinear model predictive control algorithm is adopted to optimize and generate globally optimal joint expected motion data conforming to related characteristics of the robot, so that the robot can accurately and effectively execute target motion under the condition of conforming to dynamic constraints.
本申请公开了一种机器人运动控制方法、装置、机器人及存储介质,涉及人工智能的机器人控制技术领域。所述方法包括:基于机器人待执行的目标运动所需达到的目标状态,通过非线性模型预测控制算法根据目标函数优化得到机器人各关节在未来特定时间间隔的关节期望运动数据;根据关节期望运动数据得到机器人各关节的关节执行力矩;通过该关节执行力矩控制机器人各关节运动,以使机器人向目标状态运动。本申请能够控制机器人按照预期完成目标运动,丰富了机器人的运动能力;并且,采用非线性模型预测控制算法优化生成全局最优且符合机器人相关特性的关节期望运动数据,保证机器人能够在符合动力学约束的情况下,准确有效地执行目标运动。
Robot motion control method and device, robot and storage medium
机器人运动控制方法、装置、机器人及存储介质
2022-09-02
Patent
Elektronische Ressource
Chinesisch
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