- 专利标题: Task hierarchical control method, and robot and computer readable storage medium using the same
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申请号: US17192906申请日: 2021-03-05
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公开(公告)号: US11602844B2公开(公告)日: 2023-03-14
- 发明人: Xiaoyu Ren , Liqun Huang , Mingguo Zhao , Youjun Xiong
- 申请人: UBTECH ROBOTICS CORP LTD
- 申请人地址: CN Shenzhen
- 专利权人: UBTECH ROBOTICS CORP LTD
- 当前专利权人: UBTECH ROBOTICS CORP LTD
- 当前专利权人地址: CN Shenzhen
- 优先权: CN202010649070.5 20200708
- 主分类号: B25J9/16
- IPC分类号: B25J9/16 ; B25J9/02 ; B25J13/08
摘要:
A task hierarchical control method as well as a robot and a storage medium using the same are provided. The method includes: obtaining a task instruction for a robot, where the task instruction is for determining a target task card including an amount of selection matrices for dividing a target task into the amount of hierarchical subtasks and a controller name for executing each of the hierarchical subtasks; obtaining a null space projection matrix of each of the hierarchical subtasks based on the corresponding selection matrix; generating control finks of the amount according to the corresponding controller of each of the hierarchical subtasks and the corresponding null space projection matrix; calculating a control torque of each of the control links and obtaining a hierarchical control output quantity by adding ail the control torques; and controlling the robot to perform the target task using the hierarchical control output quantity.