公开(公告)号：US20230130977A1

公开(公告)日：2023-04-27

申请号：US18089614

申请日：2022-12-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xianwen Zeng ,  Yizhang Liu ,  Meihui Zhang ,  Jinliang Chen ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08

Abstract: A method for controlling a robot comprising an end effector includes: establishing at steady state between the end effector and a working surface through a preset impedance control mechanism, and adjusting a contact force between the end effector and the working surface according to a preset desired force; obtaining a contact torque generated by the contact force; controlling the end effector to rotate according to the contact torque until a pose of the end effector is consistent with a pose of the working surface; and controlling the end effector to move tangentially along the working surface.

公开(公告)号：US20240001546A1

公开(公告)日：2024-01-04

申请号：US18369225

申请日：2023-09-18

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： ZHIHAO ZHANG ,  Yizhang Liu ,  Jinliang Chen ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/163 ,  B25J9/1653

Abstract: A robotic arm angle interval inverse solving method and a robotic arm using the same are provided. The method includes: obtaining a joint angle calculation model and a differential relationship model of a target joint of the robotic arm; obtaining extreme arm angles corresponding to a joint angle of the differential relationship model at extreme values based on the differential relationship model; obtaining a joint arm angle interval corresponding to the target joint based on the extreme arm angle and the joint angle calculation model; and obtaining a target arm angle interval corresponding to the robotic arm based on the joint arm angle interval corresponding to the target joint of the robotic arm. In comparison with the existing method to solve the arm angle interval of the robotic arm, a more accurate arm angle interval can be obtained.

公开(公告)号：US11938635B2

公开(公告)日：2024-03-26

申请号：US17702819

申请日：2022-03-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zhihao Zhang ,  Yizhang Liu ,  Jinliang Chen ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1607

Abstract: A motion control method, a robot controller, and a computer readable storage medium are provided. The method includes: calculating an inverse Jacobian matrix of a whole-body generalized coordinate vector at a current time relative to an actual task space vector of a humanoid robot; calculating a target generalized coordinate vector corresponding to a to-be-executed task space vector at a current moment by combining an actual task space vector and the to-be-executed task space vector into a null space of the inverse Jacobian matrix according to preset position constraint(s) corresponding to the whole-body generalized coordinate vector; and controlling a motion state of the humanoid robot according to the target generalized coordinate vector. In this manner, the motion of the humanoid robot is optimized as a whole to achieve the purpose of controlling the humanoid robot to avoid the limits of the motion of joints.

公开(公告)号：US20220324106A1

公开(公告)日：2022-10-13

申请号：US17702819

申请日：2022-03-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zhihao Zhang ,  Yizhang Liu ,  Jinliang Chen ,  Youjun Xiong

IPC: B25J9/16

Abstract: A motion control method, a robot controller, and a computer readable storage medium are provided. The method includes: calculating an inverse Jacobian matrix of a whole-body generalized coordinate vector at a current time relative to an actual task space vector of a humanoid robot; calculating a target generalized coordinate vector corresponding to a to-be-executed task space vector at a current moment by combining an actual task space vector and the to-be-executed task space vector into a null space of the inverse Jacobian matrix according to preset position constraint(s) corresponding to the whole-body generalized coordinate vector; and controlling a motion state of the humanoid robot according to the target generalized coordinate vector. In this manner, the motion of the humanoid robot is optimized as a whole to achieve the purpose of controlling the humanoid robot to avoid the limits of the motion of joints.