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Robot, its joint control method, and joint control device

A control method and robot technology, applied in the field of robots, can solve the problems of lack of driving ability and restrict the movement ability of the robot, and achieve the effect of increasing the driving ability and reducing the restriction of movement ability.

Active Publication Date: 2022-05-10
UBTECH ROBOTICS CORP LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The present application provides a robot, its joint control method, and a joint control device to solve the problem that the drive control of the robot in the prior art lacks sufficient drive capability, which restricts the movement capability of the robot

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  • Robot, its joint control method, and joint control device
  • Robot, its joint control method, and joint control device
  • Robot, its joint control method, and joint control device

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Embodiment Construction

[0025] 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.

[0026] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude one or more other features. , whole, step, operation, element, component and / or the presence or addition of a collection thereof.

[0027] It shou...

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Abstract

This application is applicable to the field of robot technology, and provides a robot and its joint control method and joint control device. A driving control is set at the target joint of the robot, and an elastic control is connected in parallel at the driving control. The driving control and the elastic control form a parallel elastic driver. , the joint control method includes: obtaining a target motion track of the target joint; based on the target motion track, obtaining the target torque required by the motion of the target joint when the elastic control is in the return phase; controlling the parallel elastic driver to output the target torque. The present application can solve the problem that the driving control of the robot in the prior art lacks sufficient driving ability, which restricts the movement ability of the robot.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a robot, a joint control method thereof, and a joint control device. Background technique [0002] With the development of robot technology, there are more and more types of robots, such as biped robots, quadruped robots, humanoid robots and other walking robots. Realize the walking and related actions of the robot. However, when the walking speed of the robot is increased, due to the limitation of the available power of the robot, the driving control of the robot usually lacks sufficient driving ability, which restricts the robot's motion ability. Contents of the invention [0003] The present application provides a robot, its joint control method, and a joint control device to solve the problem in the prior art that the drive control of the robot lacks sufficient drive capability, which restricts the movement capability of the robot. [0004] In the fir...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1633B25J9/1664
Inventor 白杰黄忠葵葛利刚刘益彰谢铮庞建新熊友军
Owner UBTECH ROBOTICS CORP LTD
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