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    METHOD AND DEVICE FOR CONTROLLING ARM OF ROBOT
    1.
    发明申请
    METHOD AND DEVICE FOR CONTROLLING ARM OF ROBOT 有权

    公开(公告)号：US20210197379A1

    公开(公告)日：2021-07-01

    申请号：US17115712

    申请日：2020-12-08

    Applicant: UBTECH ROBOTICS CORP LTD

    Inventor： Dake Zheng ,  Yizhang Liu ,  Zheng Xie ,  Jianxin Pang ,  Youjun Xiong

    IPC: B25J9/16 ,  G05B19/4155

    Abstract: The present disclosure provides a method for controlling an arm of a robot, including obtaining obstacle information relating to the arm of the robot by at least one sensor, obtaining current posture information of the arm of the robot by a least one detector and obtaining an expected posture information of an end-portion of the arm of the robot, determining an expected trajectory of the end-portion of the arm of the robot, determining an expected speed of the end-portion of the arm of the robot in accordance with the expected trajectory of the end-portion, determining a virtual speed of a target point on the arm of the robot, and configuring a target join speed corresponding to a joint of the arm of the robot. Such that the redundant arm of the robot may be configured to prevent from contacting the obstacles in the complex environment while performing corresponding tasks.

    Method and device for controlling arm of robot
    3.
    发明授权
    Method and device for controlling arm of robot 有权

    公开(公告)号：US11833692B2

    公开(公告)日：2023-12-05

    申请号：US17115712

    申请日：2020-12-08

    Applicant: UBTECH ROBOTICS CORP LTD

    Inventor： Dake Zheng ,  Yizhang Liu ,  Zheng Xie ,  Jianxin Pang ,  Youjun Xiong

    IPC: B25J9/16 ,  G05B19/4155 ,  B25J13/08

    CPC classification number: B25J9/1666 ,  B25J9/1605 ,  B25J9/1643 ,  G05B19/4155 ,  B25J13/08 ,  G05B2219/40269

    Abstract: The present disclosure provides a method for controlling an arm of a robot, including obtaining obstacle information relating to the arm of the robot by at least one sensor, obtaining current posture information of the arm of the robot by a least one detector and obtaining an expected posture information of an end-portion of the arm of the robot, determining an expected trajectory of the end-portion of the arm of the robot, determining an expected speed of the end-portion of the arm of the robot in accordance with the expected trajectory of the end-portion, determining a virtual speed of a target point on the arm of the robot, and configuring a target join speed corresponding to a joint of the arm of the robot. Such that the redundant arm of the robot may be configured to prevent from contacting the obstacles in the complex environment while performing corresponding tasks.

    Motion trajectory planning method for robotic manipulator, robotic manipulator and computer-readable storage medium
    4.
    发明授权
    Motion trajectory planning method for robotic manipulator, robotic manipulator and computer-readable storage medium 有权

    公开(公告)号：US12179364B2

    公开(公告)日：2024-12-31

    申请号：US17566726

    申请日：2021-12-31

    Applicant: UBTECH ROBOTICS CORP LTD

    Inventor： Dake Zheng ,  Yizhang Liu ,  Jianxin Pang ,  Huan Tan ,  Youjun Xiong

    IPC: B25J9/16

    Abstract: A motion trajectory planning method for a robotic manipulator having a visual inspection system, includes: in response to a command instruction, obtaining environmental data collected by the visual inspection system; determining an initial DS model motion trajectory of the robotic manipulator according to the command instruction, the environmental data, and a preset teaching motion DS model library, wherein the teaching motion DS model library includes at least one DS model motion trajectory generated based on human teaching activities; and at least based on a result of determining whether there is an obstacle, whose pose is on the initial DS model motion trajectory, in a first object included in the environmental data, correcting the initial DS model motion trajectory to obtain a desired motion trajectory of the robotic manipulator.

    METHOD FOR CONTROLLING A ROBOT AND ITS END-PORTIONS AND DEVICE THEREOF
    5.
    发明申请
    METHOD FOR CONTROLLING A ROBOT AND ITS END-PORTIONS AND DEVICE THEREOF 有权

    公开(公告)号：US20210200224A1

    公开(公告)日：2021-07-01

    申请号：US17109099

    申请日：2020-12-01

    Applicant: UBTECH ROBOTICS CORP LTD

    Inventor： Dake Zheng ,  Yizhang Liu ,  Zheng Xie ,  Jianxin Pang ,  Youjun Xiong

    IPC: G05D1/02 ,  B25J9/16 ,  B25J13/08 ,  B62D57/032

    Abstract: The present disclosure provides a method for controlling end-portions of a robot. The method includes obtaining joint information of a robot by at least one sensor and determining a first posture of an end-portion of the robot in accordance with the joint information, obtaining end-portion information of the robot by the sensor and obtaining the second posture of the end-portion of the robot including the interference information in accordance with the end-portion information of the robot and the first posture of the end-portion of the robot, and conducting a closed-loop control on the robot in accordance with an error between the second posture of the end-portion of the robot and a predetermined expected posture of the end-portion of the robot.

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