Login| Sign Up| Help| Contact|

Patent Searching and Data


Title:
ROBOTIC ARM CONTROL METHOD AND DEVICE, AND HUMAN-MACHINE COOPERATION MODEL TRAINING METHOD
Document Type and Number:
WIPO Patent Application WO/2022/088593
Kind Code:
A1
Abstract:
Disclosed are a robotic arm control method and device, and a human-machine cooperation model training method. The robotic arm control method comprises: obtaining a human-machine cooperation model, the human-machine cooperation model being a model for determining an expected attitude of a robotic arm according to a human-machine interaction force; obtaining the attitude at the current moment, and obtaining, according to the human-machine cooperation model, an expected attitude corresponding to the human-machine interaction force at the current moment; generating, according to the attitude at the current moment and the expected attitude corresponding to the human-machine interaction force at the current moment, an optimal trajectory where the robotic arm moves; and controlling the robotic arm according to the optimal trajectory. The present application solves the problem that a robot cannot move along a trajectory intended by the human.

Inventors:
DUAN XINGGUANG (CN)
TIAN HUANYU (CN)
WEN HAO (CN)
LI CHANGSHENG (CN)
LI JIANXI (CN)
TIAN YE (CN)
JIN LIXING (CN)
MENG FANSHENG (CN)
Application Number:
PCT/CN2021/082254
Publication Date:
May 05, 2022
Filing Date:
March 23, 2021
Export Citation:
Click for automatic bibliography generation   Help
Assignee:
BEIJING INSTITUTE TECH (CN)
International Classes:
B25J9/16; B25J11/00
Foreign References:
CN112428278A2021-03-02
CN109848983A2019-06-07
CN111660306A2020-09-15
CN110559082A2019-12-13
CN111546315A2020-08-18
CN110524544A2019-12-03
US20070151389A12007-07-05
Attorney, Agent or Firm:
BEIJING TRUST OF ZHIGUO IP AGENCY CO., LTD. (CN)
Download PDF:
View/Download PDF      PDF Help



 
Previous Patent: LED CHIP ASSEMBLY, DISPLAY PANEL, AND PREPARATION METHODS

Next Patent: BOUNDARY SCAN TEST METHOD AND STORAGE MEDIUM