公开(公告)号：US11858141B2

公开(公告)日：2024-01-02

申请号：US17408512

申请日：2021-08-23

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16

CPC classification number: B25J9/1633 ,  B25J9/1607 ,  B25J9/1641 ,  B25J9/1653 ,  B25J9/1664

Abstract: An impedance control method as well as a controller and a robot using the same are provided. The method includes: obtaining joint motion information and joint force information in the joint space of a robotic arm and an actual interaction force acting on an end-effector, and calculating actual motion information of the end-effector in the task space based on the joint motion information; calculating a corrected desired trajectory using environment information and a desired end-effector interaction force, and calculating the impedance control torque based on the joint force information, the actual interaction force, the actual motion information, and desired end-effector information including the corrected desired trajectory and determining a compensation torque based on a nonlinear term in a constructed dynamics equation so as to perform a joint torque control on the robotic arm based on the impedance control torque and the compensation torque.

公开(公告)号：US11602844B2

公开(公告)日：2023-03-14

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 ,  B25J9/02 ,  B25J13/08

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：US20210387340A1

公开(公告)日：2021-12-16

申请号：US17137382

申请日：2020-12-30

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16

Abstract: The present disclosure provides a robotic arm space position adjustment method, a robotic arm controller, and a computer readable storage medium. The method includes: calculating a potential energy function of moving a feature point of the robotic arm to a reference point based on an obtained preset acceleration of an artificial gravitational field, first vector of the artificial gravitational field in a preset reference coordinate system, second vector of the feature point of the robotic arm in the preset reference coordinate system, and a third vector of the reference point in the preset reference coordinate system; and calculating a null space virtual moment of moving the feature point of the robotic arm to the reference point based on a preset null space operator and the potential energy function, so as to adjust each joint of the robotic arm.

公开(公告)号：US11845186B2

公开(公告)日：2023-12-19

申请号：US17138942

申请日：2020-12-31

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16

CPC classification number: B25J9/1643 ,  B25J9/1607 ,  G05B2219/50391

Abstract: An inverse kinematics solving method for redundant robot as well as a redundant robot using the same are provided. The method includes: obtaining an expression of a Jacobian matrix null space of a current configuration of each robotic arm of the redundant robot corresponding to a preset end pose of the robotic arm according to the preset end pose, and obtaining a relation between an angular velocity of the joints of the redundant robot in the Jacobian matrix null space of the current configuration based on the obtained expression; traversing the Jacobian matrix null space using the relation, and building an energy cost function of the redundant robot based on the relation; obtaining a target joint angle of each joint of the redundant robot based on the optimal inverse kinematics solution to transmit to the servo of the joint so as to control the joint.

公开(公告)号：US20220009095A1

公开(公告)日：2022-01-13

申请号：US17408512

申请日：2021-08-23

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16

Abstract: An impedance control method as well as a controller and a robot using the same are provided. The method includes: obtaining joint motion information and joint force information in the joint space of a robotic arm and an actual interaction force acting on an end-effector, and calculating actual motion information of the end-effector in the task space based on the joint motion information; calculating a corrected desired trajectory using environment information and a desired end-effector interaction force, and calculating the impedance control torque based on the joint force information, the actual interaction force, the actual motion information, and desired end-effector information including the corrected desired trajectory and determining a compensation torque based on a nonlinear term in a constructed dynamics equation so as to perform a joint torque control on the robotic arm based on the impedance control torque and the compensation torque.

公开(公告)号：US20210387334A1

公开(公告)日：2021-12-16

申请号：US17198167

申请日：2021-03-10

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiaoyu Ren ,  Liqun Huang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08

Abstract: A direct force feedback control method as well as a controller and a robot using the same are provided. The method includes: obtaining an actual position and an actual speed of an end of the robotic arm and an actual external force acting on the end in a Cartesian space; calculating an impedance control component of the end in the Cartesian space based on the obtained actual position, the obtained actual speed, the obtained actual external force, an expected position, an expected speed, and an expected acceleration of the end; calculating a force control component of the end in the Cartesian space based on an expected interaction force acting on the end, the actual external force, and the actual speed; determining whether the actual external force is larger than a preset threshold, and obtaining a total force control quantity of the end of the robotic arm in the Cartesian space.

公开(公告)号：US11724393B2

公开(公告)日：2023-08-15

申请号：US17137382

申请日：2020-12-30

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1633

Abstract: The present disclosure provides a robotic arm space position adjustment method, a robotic arm controller, and a computer readable storage medium. The method includes: calculating a potential energy function of moving a feature point of the robotic arm to a reference point based on an obtained preset acceleration of an artificial gravitational field, first vector of the artificial gravitational field in a preset reference coordinate system, second vector of the feature point of the robotic arm in the preset reference coordinate system, and a third vector of the reference point in the preset reference coordinate system; and calculating a null space virtual moment of moving the feature point of the robotic arm to the reference point based on a preset null space operator and the potential energy function, so as to adjust each joint of the robotic arm.

公开(公告)号：US20230182328A1

公开(公告)日：2023-06-15

申请号：US18081611

申请日：2022-12-14

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiaoyu Ren ,  Liqun Huang ,  Huan Tan ,  Youjun Xiong

IPC: B25J19/02

CPC classification number: B25J19/02

Abstract: A motion terrain determining method, a robot, and a computer-readable storage medium are provided. The method includes: determining each sine parameter and each cosine parameter corresponding to a target joint in a plurality of joints of the robot according to one or more constraint conditions; determining a motion trajectory of the robot according to the sine parameter and the cosine parameter corresponding to the target joint; and determining a motion terrain of the robot according to the motion trajectory. In this manner, the best motion terrain can be obtained, and the robot is controlled to move on the determined motion terrain when determining the dynamics parameters of the robot, where the obtained dynamics parameters are more accurate to effectively improve the efficiency of the identification of the dynamics parameters.

公开(公告)号：US20220009096A1

公开(公告)日：2022-01-13

申请号：US17138942

申请日：2020-12-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yuesong Wang ,  Liqun Huang ,  Xiaoyu Ran ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  G06F17/16

Abstract: An inverse kinematics solving method for redundant robot as well as a redundant robot using the same are provided. The method includes: obtaining an expression of a Jacobian matrix null space of a current configuration of each robotic arm of the redundant robot corresponding to a preset end pose of the robotic arm according to the preset end pose, and obtaining a relation between an angular velocity of the joints of the redundant robot in the Jacobian matrix null space of the current configuration based on the obtained expression; traversing the Jacobian matrix null space using the relation, and building an energy cost function of the redundant robot based on the relation; obtaining a target joint angle of each joint of the redundant robot based on the optimal inverse kinematics solution to transmit to the servo of the joint so as to control the joint.

公开(公告)号：US11654557B2

公开(公告)日：2023-05-23

申请号：US17198167

申请日：2021-03-10

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiaoyu Ren ,  Liqun Huang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1633 ,  B25J9/1607 ,  B25J13/085 ,  B25J13/089 ,  G05B2219/37091 ,  G05B2219/50391

Abstract: A direct force feedback control method as well as a controller and a robot using the same are provided. The method includes: obtaining an actual position and an actual speed of an end of the robotic arm and an actual external force acting on the end in a Cartesian space; calculating an impedance control component of the end in the Cartesian space based on the obtained actual position, the obtained actual speed, the obtained actual external force, an expected position, an expected speed, and an expected acceleration of the end; calculating a force control component of the end in the Cartesian space based on an expected interaction force acting on the end, the actual external force, and the actual speed; determining whether the actual external force is larger than a preset threshold, and obtaining a total force control quantity of the end of the robotic arm in the Cartesian space.