METHOD AND APPARATUS FOR ADJUSTING REDUNDANT DEGREE OF FREEDOM, AND COMPUTER DEVICE AND MECHANICAL ARM

WIPO Patent Application WO/2024/007900

A1

A method and apparatus for adjusting a redundant degree of freedom, and a computer device and a mechanical arm. The method for adjusting a redundant degree of freedom comprises: acquiring the spatial positions of a tail end point and a distal fixed point of a robot arm; determining the spatial position of the robot arm according to the spatial positions of the tail end point and the distal fixed point; and performing collision analysis on the spatial position of the robot arm, so as to generate a target redundant degree of freedom position of the robot arm, so that a redundant degree of freedom of the robot arm is adjusted according to the acquired target redundant degree of freedom position of the robot arm.

JPH0683976	[Title of Invention] Compliance control method
WO/2002/062535	METHOD FOR CONTROLLING AN ARTICULATED AND/OR DEFORMABLE MECHANICAL SYSTEM AND ITS APPLICATIONS
WO/2014/088996	TELEOPERATION OF MACHINES HAVING AT LEAST ONE ACTUATED MECHANISM AND A FAULT DETECTION AND RECOVERY SYSTEM

DONG TIANLAI (CN)
SUN PEI (CN)

PCT/CN2023/102878

January 11, 2024

June 27, 2023

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RONOVO SHANGHAI MEDICAL SCIENCE AND TECH LTD (CN)

B25J9/16; A61B34/00; A61B34/30

CN114469355A	2022-05-13
CN113616338A	2021-11-09
CN114375182A	2022-04-19
CN114449971A	2022-05-06
CN114288025A	2022-04-08
CN111538949A	2020-08-14
JP2010120124A	2010-06-03
US5737500A	1998-04-07

BEYOND ATTORNEYS AT LAW (CN)

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