Title:
METHOD AND APPARATUS FOR CONTROLLING DUAL-ARM ROBOT, AND DUAL-ARM ROBOT AND READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2023/024277
Kind Code:
A1
Abstract:
A method for controlling a dual-arm robot. The method comprises: when a dual-arm robot grips a load, transforming six-dimensional forces of tail ends of two arms into a load coordinate system, wherein the load coordinate system is a coordinate system that is established by taking the center of the load as the origin; according to the six-dimensional force of each tail end under the load coordinate system, determining the internal force, the external force and the moment of the external force which correspond to each tail end, wherein the internal force corresponding to each tail end is used for griping the load, and the external force and the moment of the external force which correspond to each tail end are used for controlling the dual-arm robot to grip the load and move along with the external force and the moment of the external force; and according to the internal force, the external force and the moment of the external force which correspond to each tail end under the load coordinate system, controlling the two arms of the dual-arm robot to move synergically. A six-dimensional force of each tail end of a dual-arm robot is transformed into a load coordinate system, and calculation is performed in the same coordinate system, such that the complexity of a calculation process is reduced, and the speed of calculation is increased, thereby improving the synergy of two arms working in a synergic manner, and effectively lowering the risk of a load being dropped. An apparatus for controlling a dual-arm robot, a dual-arm robot and a readable storage medium are further involved.
Inventors:
ZENG XIANWEN (CN)
LIU YIZHANG (CN)
ZHANG MEIHUI (CN)
XIONG YOUJUN (CN)
LIU YIZHANG (CN)
ZHANG MEIHUI (CN)
XIONG YOUJUN (CN)
Application Number:
PCT/CN2021/131459
Publication Date:
March 02, 2023
Filing Date:
November 18, 2021
Export Citation:
Assignee:
UBTECH ROBOTICS CORP LTD (CN)
International Classes:
B25J9/08; B25J9/16
Foreign References:
| CN103640022A | 2014-03-19 | |||
| CN108453740A | 2018-08-28 | |||
| CN108608462A | 2018-10-02 | |||
| CN109822574A | 2019-05-31 | |||
| CN110103229A | 2019-08-09 | |||
| CN110802585A | 2020-02-18 | |||
| JP2012228775A | 2012-11-22 |
Attorney, Agent or Firm:
CHOFN INTELLECTUAL PROPERTY (CN)
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