公开(公告)号：US20210187731A1

公开(公告)日：2021-06-24

申请号：US16817576

申请日：2020-03-12

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： ZECAI LIN ,  Zhaohui An ,  Yizhang Liu ,  Mekhui Zhang ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16 ,  B25J13/06

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.