公开(公告)号：US20240009841A1

公开(公告)日：2024-01-11

申请号：US18217662

申请日：2023-07-03

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jindi Zhang ,  Youjun Xiang ,  Meihui Zhang

IPC: B25J9/16 ,  B25J17/00

CPC classification number: B25J9/1664 ,  B25J9/161 ,  B25J17/00

Abstract: A dynamic target tracking method for a robot having multiple joints includes: obtaining a motion state of a tracked dynamic target in real time; performing motion prediction according to the motion state at a current moment to obtain a predicted position of the dynamic target; performing lag compensation on the predicted position to obtain a compensated predicted position; performing on-line trajectory planning according to the compensated predicted position to obtain planning quantities of multi-step joint motion states at multiple future moments, and determining a multi-step optimization trajectory according to the planning quantities and a multi-step optimization objective function; and controlling the joints of the robot to according to the multi-step optimization trajectory.