Abstract
A method for determining motion constraint parameters, a method for determining position points, a method for generating motion control signals, a control method, a device, and a medium are provided. By acquiring in real time the dynamically changing center position point (third position point) and the end position point (second position point), the total rotation angle and the total radial variation required for moving from the current position point (first position point) to the end position are calculated first. This step establishes the flexible geometric foundation for variable-radius arc motion. Furthermore, by introducing a preset algorithm for solving motion constraint parameters, the above geometric parameters and at least one motion constraint condition (for example, maximum linear velocity) are integrated and collaboratively computed to solve, in real time, a motion constraint parameter.