Robot and control method of optimizing robot motion performance thereof

摘要

A robot and a method of controlling the same are disclosed. The robot derives a maximum dynamic performance capability using a specification of an actuator of the robot. The control method includes forming a first bell-shaped velocity profile in response to a start time and an end time of a motion of the robot, calculating a value of an objective function having a limited condition according to the bell-shaped velocity profile, and driving a joint in response to a second bell-shaped velocity profile that minimizes the objective function having the limited condition.

主权项

1. A method of controlling a robot, the method comprising:
forming a first bell-shaped velocity profile according to a start time and an end time of a motion of a joint of the robot; calculating a value of an objective function having a limited condition according to the first bell-shaped velocity profile; and driving the joint of the robot in response to a second bell-shaped velocity profile that minimizes the objective function having the limited condition, wherein the forming of the first bell-shaped velocity profile in response to the start time and the end time of the motion includes: forming a trajectory of a center of gravity of the robot, wherein the limited condition includes a velocity of a joint, a torque of the joint, and a Zero Momentum Point (ZMP) of the robot.