US 11,654,551 B2
Redundant robotic arm control method, redundant robotic arm controller, and computer readable storage medium
Liqun Huang, Shenzhen (CN); Xiaoyu Ren, Shenzhen (CN); Yuesong Wang, Shenzhen (CN); and Youjun Xiong, Shenzhen (CN)
Assigned to UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed by UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed on Dec. 28, 2020, as Appl. No. 17/134,565.
Claims priority of application No. 201911403020.2 (CN), filed on Dec. 30, 2019.
Prior Publication US 2021/0197371 A1, Jul. 1, 2021
Int. Cl. B25J 9/16 (2006.01); B25J 9/02 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1607 (2013.01) [B25J 9/023 (2013.01); B25J 9/1643 (2013.01); B25J 9/1651 (2013.01); B25J 13/085 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented control method for a controller electrically connected to a robotic arm, comprising steps of:
controlling, by the controller, the robotic arm to move, and obtaining an external force acting on an end of the robotic arm and an external torque acting on each joint when the robotic arm touches an obstacle, wherein the external force acting on the end of the robotic arm comes from the obstacle;
calculating a first joint speed of each joint based on a degree of influence of the joint on the end in each motion dimension and the external force acting on the end, wherein the first joint speed is a speed component of the external force acting on the end corresponding to the joint;
determining a zero space speed of each joint corresponding to a current position of the end based on a link torque of an external force acting on a link with respect to the joint by mapping the external force acting on the link in a zero space of the end of the robotic arm, wherein the zero space speed is a speed of the joint when the end remains unchanged in position while the external force is acting on the link;
calculating a total joint speed based on the first joint speed and the zero space speed; and
controlling the robotic arm to move away from the obstacle according to the total joint speed.