Title:
CONTROL METHOD AND APPARATUS FOR MOBILE ROBOTIC ARM
Document Type and Number:
WIPO Patent Application WO/2024/044975
Kind Code:
A1
Abstract:
Provided in the present invention is a control method for a mobile robotic arm. The mobile robotic arm comprises a movable chassis and an arm body mounted on the movable chassis, wherein the movable chassis is provided with an inertial measurement unit and a range finder, and the arm body is provided with a camera. The method comprises: acquiring a motion signal, which is provided by an inertial measurement unit, of a movable chassis, and parsing the motion signal to obtain a first movement signal of the movable chassis and a vibration signal of same; acquiring a second movement signal sensed by a range finder, and fusing the first movement signal and the second movement signal to obtain a synthesized movement signal of the movable chassis; and according to the vibration signal, the synthesized movement signal and an image collected by the camera, performing path planning on the mobile robotic arm, and controlling the arm body according to a path planning result.
Inventors:
CHEN BIN (CN)
WANG ZIJIAN (CN)
FAN SHUNJIE (CN)
WANG ZIJIAN (CN)
FAN SHUNJIE (CN)
Application Number:
PCT/CN2022/115904
Publication Date:
March 07, 2024
Filing Date:
August 30, 2022
Export Citation:
Assignee:
SIEMENS AG (DE)
SIEMENS LTD CHINA (CN)
SIEMENS LTD CHINA (CN)
International Classes:
B25J9/16; B25J5/00; B25J13/00
Foreign References:
| CN113580116A | 2021-11-02 | |||
| CN111070180A | 2020-04-28 | |||
| CN113727862A | 2021-11-30 | |||
| CN109746910A | 2019-05-14 | |||
| CN112074382A | 2020-12-11 | |||
| CN113996543A | 2022-02-01 | |||
| US20220118621A1 | 2022-04-21 | |||
| US10471591B1 | 2019-11-12 |
Attorney, Agent or Firm:
KANGXIN PARTNERS, P.C. (CN)
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