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Title:
ROBOT CONTROL METHOD AND DEVICE, COMPUTER-READABLE STORAGE MEDIUM, AND ROBOT
Document Type and Number:
WIPO Patent Application WO/2022/121003
Kind Code:
A1
Abstract:
A robot control method, comprising: establishing a steady state between a tail end actuator of a robot and an operation environment surface by means of a preset impedance control mechanism, and adjusting the contact force between the tail end actuator and the operation environment surface according to a preset expected force; acquiring a contact torque generated by the contact force; according to the contact torque, controlling the tail end actuator to rotate until the posture of the tail end actuator is consistent with that of the operation environment surface; and controlling the tail end actuator to move in the tangential direction of the operation environment surface. By means of the method, even when faced with an unknown operation environment, the contact force may still be effectively adjusted, and an operation track plan adapted to the environment posture may be made, thus effectively reducing contact force error. Also provided are a robot control device, a computer-readable storage medium and the robot.

Inventors:
ZENG XIANWEN (CN)
LIU YIZHANG (CN)
ZHANG MEIHUI (CN)
CHEN JINLIANG (CN)
XIONG YOUJUN (CN)
Application Number:
PCT/CN2020/139890
Publication Date:
June 16, 2022
Filing Date:
December 28, 2020
Export Citation:
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Assignee:
UBTECH ROBOTICS CORP LTD (CN)
International Classes:
B25J9/16
Foreign References:
CN105458878A2016-04-06
CN111452049A2020-07-28
CN101332604A2008-12-31
CN106938470A2017-07-11
US8897919B22014-11-25
CN111640495A2020-09-08
Attorney, Agent or Firm:
SHENZHEN ZHONGYI UNION INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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