公开(公告)号：US20240091934A1

公开(公告)日：2024-03-21

申请号：US18518955

申请日：2023-11-25

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： XIAOZHU JU ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1633 ,  B25J9/1607 ,  B25J9/163 ,  B25J9/1664 ,  B25J13/085 ,  B25J13/089

Abstract: An admittance control method, a robot, and a storage medium are provided. The method includes: obtaining, based on a first admittance controller transfer function between force and position, a desired position of a robot in a current control cycle; determining a corresponding Jacobian matrix according to a configuration of the robot in the current control cycle, and calculating an ill condition number of the Jacobian matrix; and controlling the robot to move by inputting the obtained desired position in the current control cycle to a corresponding joint, in response to the ill condition number being less than a preset maximum ill condition number. In this manner, the configuration of the robot can be maintained within a reasonable rang of the ill condition number, and singularities caused by the admittance controller exceeding the work space can be avoided while the velocity reachability and force reachability of the robot can be ensured.