公开(公告)号：US20200206942A1

公开(公告)日：2020-07-02

申请号：US16669554

申请日：2019-10-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： YUESONG WANG ,  YOUJUN XIONG

IPC: B25J13/08 ,  B25J17/02 ,  B25J9/16 ,  B25J9/04 ,  B25J9/06

Abstract: The present disclosure provides a joint control method for a serial robot and a serial robot using the same. The method includes: performing a analysis on an end joint in the plurality of joints, and calculating the force of the previous joint acting on the end joint; performing a analysis on each of the other joints in the plurality of joints, and calculating the force of the previous joint acting on the joint; obtaining an angular velocity and an angular acceleration of each joint after obtaining the force of the previous joint acting on the joint, and calculating a torque corresponding to each joint; and projecting the torque corresponding to each joint to a motor corresponding to the joint to obtain a torque to be applied to the motor at a current time. In this manner, which improves the tracking precision of the end joint while reduces the tracking error.

公开(公告)号：US20220019196A1

公开(公告)日：2022-01-20

申请号：US17088596

申请日：2020-11-04

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： YUESONG WANG ,  Xiaozhu Ju ,  Mingguo Zhao ,  Youjun Xiong

IPC: G05B19/4155 ,  G05B19/416 ,  B25J9/16

Abstract: A feedforward control method comprising steps of: acquiring kinematic parameters of each joint of a robot based on inverse kinematics according to a pre-planned robot motion trajectory, and setting a center of a body of the robot as a floating base; determining a six-dimensional acceleration of a center of mass of each joint of the robot in a base coordinate system using a forward kinematics algorithm, based on the kinematic parameters of each joint of the robot, and converting the six-dimensional acceleration of the center of mass of each joint of the robot in the base coordinate system to a six-dimensional acceleration in a world coordinate system; and calculating a torque required by a motor of each joint of the robot using an inverse dynamic algorithm, and controlling the motors of corresponding joints of the robot.