Title:
DRIVING FORCE ACQUISITION METHOD AND APPARATUS FOR MAIN MANIPULATOR, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2023/169306
Kind Code:
A1
Abstract:
A driving force acquisition method and apparatus for a main manipulator, and a computer readable storage medium. The driving force acquisition method for a main manipulator comprises: determining a driving representation formula of a driving input quantity, and determining a passive representation formula of a passive rotation quantity; determining a first relationship representation formula on the basis of the passive representation formula, and determining a second relationship representation formula on the basis of the driving representation formula, the second relationship representation formula comprising an inverse Jacobian matrix; determining a Jacobian matrix of each module according to centroid point initial moment coordinates of each module, the first relationship representation formula and the second relationship representation formula; determining pose data of a moving platform motion pose according to the driving input quantity and the passive rotation quantity; determining the driving force output by the main manipulator according to the feedback force received by the main manipulator, the gravity of each module, the Jacobian matrix of each module, the inverse Jacobian matrix and the pose data; and performing force feedback and gravity balance according to the driving force.
Inventors:
CHEN XIAOHONG (CN)
HUANG SHANDENG (CN)
PAN LUFENG (CN)
BAI LONG (CN)
HUANG SHANDENG (CN)
PAN LUFENG (CN)
BAI LONG (CN)
Application Number:
PCT/CN2023/079379
Publication Date:
September 14, 2023
Filing Date:
March 02, 2023
Export Citation:
Assignee:
NOAHTRON INTELLIGENCE MEDTECH HANGZHOU CO LTD (CN)
International Classes:
B25J9/16; B25J3/00; B25J13/08; B25J19/00
Foreign References:
| CN114734425A | 2022-07-12 | |||
| CN113043279A | 2021-06-29 | |||
| CN110175409A | 2019-08-27 | |||
| CN113081290A | 2021-07-09 | |||
| CN109955284A | 2019-07-02 | |||
| US20050252329A1 | 2005-11-17 | |||
| CN101745820A | 2010-06-23 |
Attorney, Agent or Firm:
SHINY INTELLECTUAL PROPERTY FIRM (CN)
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