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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
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.
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公开(公告)号：US12172325B2
公开(公告)日：2024-12-24
申请号：US18075426
申请日：2022-12-06
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Meihui Zhang , Yizhang Liu , Youjun Xiong , Huan Tan
Abstract: A collision detection method, a storage medium, and a robot are provided. The method includes: calculating an external torque of a first joint of the robot based on a preset generalized momentum-based disturbance observer; calculating an external torque of a second joint of the robot based on a preset long short-term memory network; calculating an external torque of a third joint of the robot based on the external torque of the first joint and the external torque of the second joint; and determining whether the robot has collided with an external environment or not based on the external torque of the third joint and a preset collision threshold. In the present disclosure, the component of the model error in the joint external torque calculated by the disturbance observer is eliminated to obtain the accurate contact torque, thereby improving the accuracy of the collision detection.
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公开(公告)号：US12115673B2
公开(公告)日：2024-10-15
申请号：US18052535
申请日：2022-11-03
Applicant: UBTECH ROBOTICS CORP LTD.
Inventor： Yizhang Líu , Youjun Xiong , Xianwen Zeng , Zhihao Zhang , Meihui Zhang , Chunyu Chen
CPC classification number: B25J9/1666 , B25J9/163
Abstract: A robot obstacle avoidance method, a robot controller using the same, and a storage medium are provided. The method includes: determining an influence value of an obstacle on a motion range of a joint of the robot according to a position of the obstacle in a workspace of the robot; establishing a state transition relationship of the robot by taking a joint velocity of the robot as a control target and a joint angular velocity of the robot as a control input quantity; and avoiding the robot from colliding with the obstacle during a movement process of the robot by performing a model predictive control on the robot according to the state transition relationship and the influence value. In the present disclosure, the influence of the obstacle on the motion range of the joint of the robot is fully considered.
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公开(公告)号：US20230191606A1
公开(公告)日：2023-06-22
申请号：US18075426
申请日：2022-12-06
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Meihui Zhang , Yizhang Liu , Youjun Xiong , Huan Tan
IPC: B25J9/16
CPC classification number: B25J9/1674
Abstract: A collision detection method, a storage medium, and a robot are provided. The method includes: calculating an external torque of a first joint of the robot based on a preset generalized momentum-based disturbance observer; calculating an external torque of a second joint of the robot based on a preset long short-term memory network; calculating an external torque of a third joint of the robot based on the external torque of the first joint and the external torque of the second joint; and determining whether the robot has collided with an external environment or not based on the external torque of the third joint and a preset collision threshold. In the present disclosure, the component of the model error in the joint external torque calculated by the disturbance observer is eliminated to obtain the accurate contact torque, thereby improving the accuracy of the collision detection.
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Patent Agency Ranking
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
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.
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公开(公告)号：US12103187B2
公开(公告)日：2024-10-01
申请号：US17516729
申请日：2021-11-02
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xingxing Ma , Chunyu Chen , Ligang Ge , Yizhang Liu , Hongge Wang , Jie Bai , Zheng Xie , Jiangchen Zhou , Meihui Zhang , Shuo Zhang , Youjun Xiong
IPC: B25J9/16 , B62D57/032 , G05D1/43 , G05D1/622 , G05D1/644 , G05D109/12
CPC classification number: B25J9/1666 , B62D57/032 , G05D1/43 , G05D1/637 , G05D1/644 , G05D2109/12
Abstract: A path planning method and a biped robot using the same are provided. The method includes: generating a candidate node set for a next foot placement based on a biped robot's own parameters and joint information of a current node, adding valid candidate nodes in the candidate node set to a priority queue so as to select optimal nodes for realizing next node expansion. These optimal nodes are output to generate a foot placement sequence from an initial node to a target node, which can greatly reduce the search amount for path nodes when the robot's legs intersect and touch the ground, thereby improving the efficiency of path planning.
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公开(公告)号：US20230158672A1
公开(公告)日：2023-05-25
申请号：US18052535
申请日：2022-11-03
Applicant: UBTECH ROBOTICS CORP LTD.
Inventor： YIZHANG LIU , Youjun Xiong , Xianwen Zeng , Zhihao Zhang , Meihui Zhang , Chunyu Chen
IPC: B25J9/16
CPC classification number: B25J9/1666 , B25J9/163
Abstract: A robot obstacle avoidance method, a robot controller using the same, and a storage medium are provided. The method includes: determining an influence value of an obstacle on a motion range of a joint of the robot according to a position of the obstacle in a workspace of the robot; establishing a state transition relationship of the robot by taking a joint velocity of the robot as a control target and a joint angular velocity of the robot as a control input quantity; and avoiding the robot from colliding with the obstacle during a movement process of the robot by performing a model predictive control on the robot according to the state transition relationship and the influence value. In the present disclosure, the influence of the obstacle on the motion range of the joint of the robot is fully considered.
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公开(公告)号：US20220203534A1
公开(公告)日：2022-06-30
申请号：US17516729
申请日：2021-11-02
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xingxing Ma , Chunyn Chen , Ligang Ge , Yizhang Liu , Hongge Wang , Jie Bai , Zheng Xie , Jiangchen Zhou , Meihui Zhang , Shuo Zhang , Youjun Xiong
IPC: B25J9/16 , B62D57/032 , G05D1/02
Abstract: A path planning method and a biped robot using the same are provided. The method includes: generating a candidate node set for a next foot placement based on a biped robot's own parameters and joint information of a current node, adding valid candidate nodes in the candidate node set to a priority queue so as to select optimal nodes for realizing next node expansion. These optimal nodes are output to generate a foot placement sequence from an initial node to a target node, which can greatly reduce the search amount for path nodes when the robot's legs intersect and touch the ground, thereby improving the efficiency of path planning.
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公开(公告)号：US11325247B2
公开(公告)日：2022-05-10
申请号：US16817576
申请日：2020-03-12
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zecai Lin , Zhaohui An , Yizhang Liu , Meihui Zhang , Youjun Xiong , Jianxin Pang
Abstract: The present disclosure provides a robotic arm control method as well as an apparatus and a terminal device using the same. The method includes: obtaining a current joint angle of each of M joints of the robotic arm; obtaining a reference included angle based on the current joint angle of each of the M joints of the robotic arm; determining an expected included angle corresponding to the robotic arm within a target angle range based on the reference included angle and the preset included angle related evaluation function; and controlling the robotic arm based on the target joint angles of the M joints.
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