Title:
ROBOT ARM CONTROL METHOD AND APPARATUS, AND ROBOT ARM AND READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/227536
Kind Code:
A1
Abstract:
A robot arm control method. The method comprises: by using a sensor at the tail end of a robot arm (200), acquiring, in a tail end coordinate system, n pieces of gravity matrix data of a manipulator at the tail end of the robot arm (200) when same is at n different attitudes, wherein n ≥ 3; determining, by using a preset rotation transformation matrix determination method, n rotation transformation matrices of the robot arm (200) from a base coordinate system to the tail end coordinate system when the robot arm (200) is at the n different attitudes; and calculating the centroid coordinates and mass of the manipulator merely by acquiring the n pieces of corresponding gravity matrix data of the robot arm (200) when same is at the n different attitudes, and the n rotation transformation matrices of same. By means of the method, a power-on error of a force sensor is fully taken into consideration, and not only is the amount of calculation small, but online data processing can also be realized; and the centroid coordinates and mass of a manipulator are determined, without needing to modify model parameters after offline solving, thereby effectively increasing the speed of determining relevant parameters of a manipulator. Further provided are a robot arm control apparatus (10), a robot arm (200) and a readable storage medium.
Inventors:
HUANG LIQUN (CN)
REN XIAOYU (CN)
ZHAO MINGGUO (CN)
XIONG YOUJUN (CN)
REN XIAOYU (CN)
ZHAO MINGGUO (CN)
XIONG YOUJUN (CN)
Application Number:
PCT/CN2021/133002
Publication Date:
November 03, 2022
Filing Date:
November 25, 2021
Export Citation:
Assignee:
UBTECH ROBOTICS CORP LTD (CN)
International Classes:
B25J9/16; B25J13/08
Domestic Patent References:
| WO2009088828A1 | 2009-07-16 |
Foreign References:
| CN113510698A | 2021-10-19 | |||
| CN111590564A | 2020-08-28 | |||
| CN107238468A | 2017-10-10 | |||
| CN109822574A | 2019-05-31 | |||
| CN111618857A | 2020-09-04 |
Attorney, Agent or Firm:
CHOFN INTELLECTUAL PROPERTY (CN)
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