Title:
CONTROL METHOD AND APPARATUS FOR ROBOTIC ARM, AND OPERATION CONTROL DEVICE AND READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/199059
Kind Code:
A1
Abstract:
A control method and apparatus for a robotic arm, and an operation control device and a readable storage medium. The control method comprises: after an actual joint angle of a humanoid robotic arm at the current moment and a pose to be implemented are acquired, calculating an original arm angle value of a joint plane, where said pose is located, relative to a corresponding reference plane, and calculating a joint angle set to be corrected that corresponds to the original arm angle value; then, calculating an inverse Jacobian matrix of said pose relative to a robotic arm joint angle, and performing parameter correction on the inverse Jacobian matrix by using a joint singularity avoidance feature limiting condition; and therefore, in combination with a corrected inverse Jacobian matrix, an actual joint angle set and the joint angle set to be corrected, calculating a corresponding target joint angle set for said pose, such that when the humanoid robotic arm is controlled, according to the target joint angle set, to move, the humanoid robotic arm can stably move to achieve a target pose while avoiding a singular position of the robotic arm, thereby enhancing the operability of the humanoid robotic arm.
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Inventors:
ZHANG ZHIHAO (CN)
LIU YIZHANG (CN)
CHEN JINLIANG (CN)
BAI JIE (CN)
XIONG YOUJUN (CN)
LIU YIZHANG (CN)
CHEN JINLIANG (CN)
BAI JIE (CN)
XIONG YOUJUN (CN)
Application Number:
PCT/CN2021/131202
Publication Date:
September 29, 2022
Filing Date:
November 17, 2021
Export Citation:
Assignee:
UBTECH ROBOTICS CORP LTD (CN)
International Classes:
B25J9/16; B25J13/00; G06F17/11
Foreign References:
| CN113021347A | 2021-06-25 | |||
| CN110977974A | 2020-04-10 | |||
| CN112091979A | 2020-12-18 | |||
| CN108608427A | 2018-10-02 | |||
| CN103955619A | 2014-07-30 | |||
| CN107066645A | 2017-08-18 | |||
| US20150120059A1 | 2015-04-30 |
Attorney, Agent or Firm:
CHOFN INTELLECTUAL PROPERTY (CN)
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