公开(公告)号：US11654551B2

公开(公告)日：2023-05-23

申请号：US17134565

申请日：2020-12-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Liqun Huang ,  Xiaoyu Ren ,  Yuesong Wang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J9/02 ,  B25J13/08

CPC classification number: B25J9/1607 ,  B25J9/023 ,  B25J9/1643 ,  B25J9/1651 ,  B25J13/085 ,  B25J9/1666 ,  B25J9/1676

Abstract: The present disclosure provides a redundant robotic arm control method, a redundant robotic arm, and a computer readable storage medium. The method includes: obtaining an external force acting on an end of the robotic arm and an external torque acting on each joint; calculating a first joint speed of each joint based on a degree of influence of the joint on the end in each motion dimension and the external force acting on the end; determining a zero space speed of each joint corresponding to a current position of the end based on a link torque of an external force acting on a link with respect to the joint; calculating a total joint speed based on the first joint speed and the zero space speed; and controlling the robotic arm to the move according to the total joint speed.

公开(公告)号：US20220009093A1

公开(公告)日：2022-01-13

申请号：US17192906

申请日：2021-03-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiaoyu Ren ,  Liqun Huang ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08 ,  B25J9/02

Abstract: A task hierarchical control method as well as a robot and a storage medium using the same are provided. The method includes: obtaining a task instruction for a robot, where the task instruction is for determining a target task card including an amount of selection matrices for dividing a target task into the amount of hierarchical subtasks and a controller name for executing each of the hierarchical subtasks; obtaining a null space projection matrix of each of the hierarchical subtasks based on the corresponding selection matrix; generating control finks of the amount according to the corresponding controller of each of the hierarchical subtasks and the corresponding null space projection matrix; calculating a control torque of each of the control links and obtaining a hierarchical control output quantity by adding ail the control torques; and controlling the robot to perform the target task using the hierarchical control output quantity.

公开(公告)号：US20210197371A1

公开(公告)日：2021-07-01

申请号：US17134565

申请日：2020-12-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Liqun Huang ,  Xiaoyu Ren ,  Yuesong Wang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J9/02 ,  B25J13/08

Abstract: The present disclosure provides a redundant robotic arm control method, a redundant robotic arm, and a computer readable storage medium. The method includes: obtaining an external force acting on an end of the robotic arm and an external torque acting on each joint; calculating a first joint speed of each joint based on a degree of influence of the joint on the end in each motion dimension and the external force acting on the end; determining a zero space speed of each joint corresponding to a current position of the end based on a link torque of an external force acting on a link with respect to the joint; calculating a total joint speed based on the first joint speed and the zero space speed; and controlling the robotic arm to the move according to the total joint speed.