Title:
CONTROL UNIT FOR ROBOT SYSTEM, ROBOT SYSTEM, AND CONTROL METHOD FOR ROBOT SYSTEM
Document Type and Number:
WIPO Patent Application WO/2023/000946
Kind Code:
A1
Abstract:
A control unit (300), used for outputting a current instruction to a driving unit (400) of each joint in a robot system according to an instruction. The control unit (300) comprises: a motion planning module (310) generating a point position instruction according to a motion instruction for planning a motion trajectory of the robot system; an overall acceleration control loop module (320) used for generating a first force instruction for each joint on the basis of the point position instruction and acceleration information of any point in the robot system; a single-joint control loop module (330) used for generating a second force instruction for each joint on the basis of the point position instruction and position information of each joint in the robot system; a force instruction fusion module (340) used for calculating and generating a force fusion instruction for each joint on the basis of the first force instruction and the second force instruction; and a current control loop module (350) used for generating a current instruction for driving the driving unit (400) according to the force fusion instruction.
Inventors:
HE YAN (CN)
Application Number:
PCT/CN2022/102771
Publication Date:
January 26, 2023
Filing Date:
June 30, 2022
Export Citation:
Assignee:
AGILEBOT ROBOTICS CO LTD (CN)
International Classes:
B25J13/00; B25J9/16; B25J18/00
Foreign References:
| CN113263503A | 2021-08-17 | |||
| CN112720476A | 2021-04-30 | |||
| CN109531565A | 2019-03-29 | |||
| CN111230867A | 2020-06-05 | |||
| JP2014014875A | 2014-01-30 |
Attorney, Agent or Firm:
SHANGHAI PATENT & TRADEMARK LAW OFFICE, LLC (CN)
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