Title:
MECHANICAL ARM, ROBOT, CONTROL METHOD FOR MECHANICAL ARM, PROCESSING DEVICE, AND MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/068408
Kind Code:
A1
Abstract:
A mechanical arm, a robot, a control method for a mechanical arm, a processing device, and a medium. The mechanical arm comprises a mechanical arm body, a mechanical arm end (10), a force sensor (3), at least one distance sensor (2) and a processing device; the force sensor (3) is provided at the mechanical arm end (10) and is used for detecting force information between the mechanical arm and a contact surface; and each distance sensor (2) is provided on the mechanical arm end (10), and is used for detecting distance information between a position where the distance sensor (2) is located and the contact surface (9). The processing device adjusts the position of the mechanical arm end (10) by means of admittance control according to the force information, and adjusts the posture of the mechanical arm end (10) by means of reverse admittance control according to the force information and the distance information.
Inventors:
ZHOU CHENG (CN)
LI QIANG (CN)
ZHANG ZHENGYOU (CN)
LI QIANG (CN)
ZHANG ZHENGYOU (CN)
Application Number:
PCT/CN2021/111706
Publication Date:
April 07, 2022
Filing Date:
August 10, 2021
Export Citation:
Assignee:
TENCENT TECH SHENZHEN CO LTD (CN)
International Classes:
B25J13/08; B25J9/16; B25J18/00
Foreign References:
| CN112223283A | 2021-01-15 | |||
| CN110842890A | 2020-02-28 | |||
| CN110524539A | 2019-12-03 | |||
| CN110962137A | 2020-04-07 | |||
| US20170173796A1 | 2017-06-22 | |||
| EP3415284A2 | 2018-12-19 |
Attorney, Agent or Firm:
DEQI INTELLECTUAL PROPERTY LAW CORPORATION (CN)
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