-
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
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：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
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：US11353887B2
公开(公告)日：2022-06-07
申请号：US16587069
申请日：2019-09-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Yuesong Wang , Mingguo Zhao
Abstract: The present disclosure provides a robot centroid position adjustment method as well as an apparatus and a robot using the same. The method includes: obtaining initial values; obtaining a waist velocity adjustment value; calculating a current value of the centroid position; and determining whether a current value of the centroid position is equal to the planning value of the centroid position; if the current value of the centroid position is not equal to the planning value of the centroid position, obtaining the current value of the centroid position to take as the initial value of the centroid position and returning to the step of obtaining the waist velocity adjustment value until the current value of the centroid position is equal to the planning value of the centroid position. In such a manner, the balance ability of the robot can be improved.
-
4.发明申请公开(公告)号：US20200206944A1
公开(公告)日：2020-07-02
申请号：US16669551
申请日：2019-10-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Hao Dong , Youjun Xiong , Yuesong Wang , Mingguo Zhao
Abstract: The present disclosure provides an acceleration compensation method for a humanoid robot as well as an apparatus and a humanoid robot using the same. The method includes: calculating an angular acceleration of each joint and calculating a six-dimensional acceleration of a centroid of a connecting rod corresponding to the joint in an absolute world coordinate system, if the humanoid robot is in a single leg supporting state; calculating a torque required by the angular acceleration of each joint of the humanoid robot; determining a feedforward current value corresponding to the torque of each joint; and superimposing the feedforward current value on a control signal of each joint to control the humanoid robot. In this manner, the influence of the acceleration can be effectively suppressed, the rigidity of the PID controller of the humanoid robot can be reduced, thereby improving the stability of the entire humanoid robot.
-
公开(公告)号：US20200206925A1
公开(公告)日：2020-07-02
申请号：US16660822
申请日：2019-10-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yuesong Wang , Youjun Xiong , Mingguo Zhao
Abstract: The present disclosure provides an impedance control method for a biped robot as well as an apparatus and a biped robot using the same. The method includes: correcting an impact force on a landing leg in the two legs of the biped robot using a natural attenuation function, and taking the corrected impact force as an input of an impedance control; obtaining an impedance model of the biped robot; determining a transfer function of the impedance control based on the impedance model; calculating an output of the impedance control based on the input of the impedance control and the transfer function of the impedance control; determining a joint angle of each joint based on the output of the impedance control and a planned pose of the biped robot; and transmitting joint angle information of each joint to motor(s) of the joint to perform the impedance control.
-
Patent Agency Ranking
6.发明授权公开(公告)号：US11780085B2
公开(公告)日：2023-10-10
申请号：US17107966
申请日：2020-12-01
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiaozhu Ju , Mingguo Zhao , Yuesong Wang , Youjun Xiong
IPC: B25J9/16 , B25J13/08 , B62D57/032 , B62D57/02
CPC classification number: B25J9/163 , B25J9/1607 , B25J9/1633 , B25J9/1638 , B25J13/088 , B62D57/02 , B62D57/032
Abstract: The present disclosure provides a robot posture control method as well as a robot and a computer readable storage medium using the same. The method includes: constructing a virtual model of the robot, wherein the virtual model comprises a momentum wheel inverted pendulum model of the robot and an angle between a sole surface of the robot and a horizontal plane; and performing a posture control based on outer-loop feedback control, inner loop compensation for the external disturbance rejection in position level, inner loop external disturbance rejection via null-space in velocity level, and inner loop external disturbance rejection in force/acceleration level on the robot. In this manner, a brand-new virtual model is provided, which can fully reflect the upper body posture, centroid, foot posture, and the like of the robot which are extremely critical elements for the balance and posture control of the robot.
-
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：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
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：US20190217464A1
公开(公告)日：2019-07-18
申请号：US16212619
申请日：2018-12-06
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Hao Dong , Yuesong Wang , Mingguo Zhao
CPC classification number: B25J9/0006 , B25J9/0009 , B25J9/1633 , B25J13/085 , B25J13/088 , B25J19/02 , B62D57/032
Abstract: A method for controlling walking of a robot includes: determining a stance of the robot, in response to the robot being in a single-leg stance, determining a rotational angle of each of the joints, and calculating a value of a torque produced by a force of gravity acting on the robot about each of the joints; in response to the robot being in a double-leg stance, calculating a position of a projection of a center of mass of the robot on a surface where the robot stands, and calculating a value of a torque produced by a force of gravity acting on the robot about each of the joints according to the position of the projection; obtaining a feed-forward current of each of the joints; and applying the feed-forward current of each of the joints to a corresponding actuator of this joints.
-
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.
-
-
-
-
-
-
-
-
-
Search Results
19
records
(took 0.015 seconds)
