VR Robotic Arm Control With Quadratic Programming Mapping
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Solution Overview
Problem
Existing robot control methods are not natural and intuitive, and lack flexibility, making it difficult for robotic arms to perform complex motions similar to human movements.
Innovation Solution
A robot control method that uses first motion data from a human arm collected by a virtual reality device, maps this data to the working space of a robotic arm, and uses quadratic programming to calculate control data for each joint of the robotic arm, allowing it to mimic human-like movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If complicated programming techniques are used to control the robotic arm, then the robot can perform various complex motions, but the control method becomes unnatural and inflexible
Solution Approach 1:
The patent captures human arm motion data using VR devices and copies these natural movement patterns to control the robotic arm. Instead of programming complex motion sequences, the system directly replicates human arm trajectories, postures, and speeds, making the control method natural and intuitive while maintaining complex motion capability
Solution Approach 2:
The patent replaces traditional mechanical control programming with a data-driven approach using VR motion capture. Human arm motion is recorded as digital data and transmitted to control the robotic arm, substituting complex programming logic with direct motion data replication, thereby improving ease of operation
2Productivity
If traditional control methods are used, then the robotic arm can execute programmed tasks, but the flexibility and naturalness of movement are poor
Solution Approach 1:
The patent implements dynamic control by capturing real-time human arm motion data and continuously updating the robotic arm's movement in real-time. The system adapts to changing motion requirements dynamically rather than executing pre-programmed fixed sequences, thereby improving both flexibility and task execution capability
Solution Approach 2:
The patent introduces VR motion capture data as an intermediary between human intention and robotic execution. This intermediary layer captures natural human motion patterns and translates them into robotic control commands, enabling flexible adaptation to various tasks while maintaining natural movement characteristics
3Shape
If complex programming is used to achieve anthropomorphic movements, then the robotic arm can mimic human motions, but the control system becomes complicated and less reliable
Solution Approach 1:
The patent directly copies human arm motion data including position, posture, and speed information to control the robotic arm. This copying approach achieves accurate anthropomorphic movements without requiring complex programming to calculate or approximate human-like motion patterns, thereby reducing control system complexity
Solution Approach 2:
The system uses the human operator's own motion data to control the robotic arm, eliminating the need for complex control algorithms. The human arm itself serves as the control input, naturally producing anthropomorphic movements without requiring the control system to generate complex motion planning logic
Data Source
AI summary
A robot control method, a computer-readable storage medium, and a robot are provided. The method includes: obtaining first motion data, where the first motion data is human arm end motion data collected by a virtual reality device; obtaining second motion data by mapping the first motion data to a working space of an end of a robotic arm of the robot; obtaining a state of each joint of the robotic arm of the robot, and obtaining control data of the joint by performing a quadratic programming solving on the second motion data and the state of the joint; and controlling, by a motion controller of the robot, the robotic arm of the robot to move according to the obtained control data of each joint of the robot by transmitting the control data of the joint to the motion controller, so that the control method is relatively more natural, intuitive, and flexible.