Method for controlling the motion of a robot arm, computing device and robot
US11458619B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 30, 2019 |
| Grant date | Oct 4, 2022 |
| Priority date | — |
| Expiry date | Sep 16, 2040 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J9/1643
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method for calculating an arm angle range of a robot arm includes: determining a pose at an tail end position of the robot arm; judging whether an angle of an elbow joint is within a limit thereof when an arm angle is 180 degrees; if yes, constructing a first position matrix characterizing the elbow joint by using the pose and the arm angle; constructing a second position matrix of the elbow joint by using DH parameters of other joints of the robot arm; calculating, according to the first position matrix and the second position matrix, a first arm angle feasible region satisfying a limit of a position joint; judging whether the robot arm has a secondary position joint; and intersecting with the calculated first arm angle feasible region to obtain an arm angle range if no secondary position joint is present at the robot arm.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.