Robot control method, robot and computer-readable storage medium

US12285870B2 · kind B2 · utility

Assignee

• UBTECH ROBOTICS CORP LTD · CN

Inventors

• Chunyu Chen · Qingzhou City, CN
• Ligang Ge · Nanhu, CN
• Yizhang Liu · Lo Wu, CN
• Jiangchen Zhou · Lo Wu, CN
• Qiuyue Luo · Lo Wu, CN
• Youjun Xiong · Nanhu, CN

Key dates

• Filing date: Nov 28, 2022
• Grant date: Apr 29, 2025
• Expiry date: Dec 23, 2043

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/40367
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A method of controlling a robot includes: obtaining an inertia matrix and a slack variable of the robot, and determining a momentum equation of the robot according to the inertia matrix and the slack variable; obtaining reference joint angles corresponding to a reference action of the robot; determining an optimization objective function of the momentum equation according to a first preset weight coefficient of the slack variable and a second preset weight coefficient of the reference joint angles; and determining joint angles of the robot according to the optimization objective function, and driving the robot to move according to the joint angles of the robot.