US 12,285,870 B2
Robot control method, robot and computer-readable storage medium
Chunyu Chen, Shenzhen (CN); Ligang Ge, Shenzhen (CN); Yizhang Liu, Shenzhen (CN); Jiangchen Zhou, Shenzhen (CN); Qiuyue Luo, 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 Nov. 28, 2022, as Appl. No. 18/070,313.
Prior Publication US 2023/0182297 A1, Jun. 15, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01); B62D 57/032 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1607 (2013.01); B25J 9/1638 (2013.01); B25J 9/1651 (2013.01); B25J 13/088 (2013.01); B62D 57/032 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method of controlling a robot, comprising:
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.