US 12,240,119 B2
Motion control method, robot, and computer-readable storage medium
Gang Han, Shenzhen (CN)
Assigned to UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed by UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed on Nov. 9, 2022, as Appl. No. 17/984,215.
Claims priority of application No. 202111583810.0 (CN), filed on Dec. 22, 2021.
Prior Publication US 2023/0191600 A1, Jun. 22, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1658 (2013.01) 20 Claims
OG exemplary drawing
 
1. A computer-implemented motion control method for a robot, comprising:
calculating a task matrix and expected information of each task of the robot based on reference trajectory information of each task of the robot in a control period and state estimation information of each task of the robot in the control period;
calculating a constraint matrix and a boundary of an inequality constraint that the robot needs to satisfy based on the state estimation information;
constructing a hierarchical quadratic programming problem with recursive hierarchical projection based on the task matrix of each task, the expected information of each task, the constraint matrix of the inequality constraint, the boundary of the inequality constraint, a real-time determined weight coefficient of each task, and a real-time determined priority level of each task; and
solving the hierarchical quadratic programming problem to obtain a result, and generating a joint control instruction based on the result, wherein the joint control instruction is for controlling each joint of the robot to move.