公开(公告)号：US20240217108A1

公开(公告)日：2024-07-04

申请号：US18395610

申请日：2023-12-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： XUAN LUO ,  Chunyu Chen

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1664

Abstract: A method for avoiding singularities of a robotic arm includes: calculating a virtual environment external force required by the robotic arm to avoid singularities based on current joint positions of joints on the robotic arm when it is determined that the robotic arm needs to avoid singularities; obtaining a current end force of the robotic arm and a desired end trajectory of the robotic arm; performing admittance control calculation based on the virtual environment external force, the current end force and the desired end trajectory to obtain a corrected end trajectory of the robotic arm; and controlling the robotic arm to move based on the corrected end trajectory.