Unlock instant, AI-driven research and patent intelligence for your innovation.

Robot and tail end control method and device thereof

A control method and technology of a control device, which are applied in the field of robots, can solve the problem of low control accuracy of robot arm movement stability, and achieve the effects of improving accuracy and practicability, and simple and stable control.

Active Publication Date: 2020-05-08
UBTECH ROBOTICS CORP LTD
View PDF5 Cites 4 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of this, the embodiment of the present application provides a robot and its terminal control method and device to solve the problem of low control accuracy of robot arm motion stability in the prior art

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Robot and tail end control method and device thereof
  • Robot and tail end control method and device thereof
  • Robot and tail end control method and device thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0039] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0040] In order to illustrate the technical solutions described in this application, specific examples are used below to illustrate.

[0041] figure 1 It is a schematic diagram of the implementation flow of a robot terminal control method provided in the embodiment of the present application, and is described in detail as follows:

[0042] In step S101, joint sensor information of ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

A tail end control method of a robot comprises the steps that information of a joint sensor of the robot is obtained, and a first pose, which does not include interference information, of the tail endof the robot is determined according to the information of the joint sensor; information of a tail end sensor of the robot is acquired, and a second pose, including interference information, of the tail end of the robot is acquired according to the information of the tail end sensor of the robot and the first pose of the tail end of the robot; and the robot is controlled in a closed-loop mode according to the error between the second pose of the tail end of the robot and a preset expected pose of the tail end of the robot. Through a pose compensation mode, the robot can be stably controlled more simply, and the precision and practicability of stable control over the tail end of the robot can be improved.

Description

technical field [0001] The present application belongs to the field of robots, and in particular relates to a robot and its terminal control method and device. Background technique [0002] With the continuous advancement of robot technology and the continuous improvement of robot-related requirements, the application of humanoid robots is increasing, and at the same time, the application scenarios of humanoid robots are becoming more and more complicated. [0003] For example, in an actual application scenario, a humanoid robot may be required to pour a cup of hot tea and deliver the hot tea to the user. At this time, in order to reliably complete the above actions, it is necessary to ensure that the humanoid robot maintains the stability of the teacup held in the palm of the end of the arm during walking, so that the tea will not spill out. [0004] However, when the humanoid robot walks, the change in the position of the supporting feet will cause great interference to t...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00B25J13/08
CPCB25J9/1628B25J9/1664B25J9/161B25J13/08B25J13/00G05B2219/40264B62D57/032B25J13/088B25J9/1641B25J9/1653B25J11/008G05D1/0212
Inventor 郑大可刘益彰谢铮庞建新熊友军
Owner UBTECH ROBOTICS CORP LTD