US 11,951,628 B2
Robot controlling method, motion computing device and robot system
Kai-Tai Song, New Taipei (TW); and Yi-Hung Lee, Taipei (TW)
Assigned to National Yang Ming Chiao Tung University, Hsinchu (TW)
Filed by National Yang Ming Chiao Tung University, Hsinchu (TW)
Filed on May 4, 2021, as Appl. No. 17/306,951.
Claims priority of application No. 110104082 (TW), filed on Feb. 3, 2021.
Prior Publication US 2022/0250244 A1, Aug. 11, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); G05B 19/418 (2006.01); G06T 7/579 (2017.01); G06T 7/73 (2017.01)
CPC B25J 9/1666 (2013.01) [B25J 9/1633 (2013.01); B25J 9/1653 (2013.01); B25J 9/1697 (2013.01); G05B 19/41815 (2013.01); G06T 7/579 (2017.01); G06T 7/73 (2017.01); G05B 2219/39091 (2013.01); G05B 2219/40202 (2013.01); G06T 2207/10028 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A robot controlling method comprising:
capturing, by a depth camera, a depth image of a robot and a workspace of the robot, wherein a tool is disposed on an end of the robot;
receiving the depth image and obtaining an obstacle parameter of an obstacle and a tool parameter of the tool according to the depth image by a processing circuit, wherein the tool parameter comprises two opposite endpoints of the tool and the obstacle parameter comprises an obstacle point;
obtaining, by the processing circuit, a distance vector between the end of the robot and the obstacle parameter;
establishing, by the processing circuit, a first endpoint vector and a second endpoint vector between the tool parameter and the obstacle parameter according to the tool parameter and the obstacle parameter, wherein the first endpoint vector and the second endpoint vector are established according to the two opposite endpoints of the tool and the obstacle point of the obstacle respectively by the processing circuit;
establishing, by the processing circuit, a virtual torque according to the distance vector, the first endpoint vector, and the second endpoint vector; and
outputting, by the processing circuit, a control signal according to the tool parameter, the obstacle parameter and the virtual torque to the robot to drive the robot to move and rotate the tool to a target, wherein the control signal is adjusted based on the virtual torque to rotate the robot and reduce a length of the first endpoint vector when a length of the first endpoint vector is greater than the length of the second endpoint vector.