US 12,285,871 B2
Robot control method, computer-readable storage medium, and robot
Meng Yan, Shenzhen (CN); Chunyu Chen, Shenzhen (CN); Xuan Luo, Shenzhen (CN); Zhihao Zhang, 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 May 24, 2023, as Appl. No. 18/201,744.
Claims priority of application No. 202210598024.6 (CN), filed on May 30, 2022.
Prior Publication US 2023/0381963 A1, Nov. 30, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1694 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A computer-implemented control method for a robot with a robotic arm having one or more joints, comprising:
obtaining first motion data, wherein the first motion data is human arm end motion data collected by a virtual reality device;
obtaining second motion data by mapping the first motion data to a working space of an end of the robotic arm of the robot;
obtaining a state of each of the joints of the robotic arm of the robot, and obtaining control data of the joint by performing a quadratic programming solving on the second motion data and the state of the joint;
determining whether the quadratic programming solving is overspeed based on the obtained control data of each of the joints of the robotic arm;
determining the obtained control data of the joint of the robotic arm as not meeting the restriction condition, in response to the quadratic programming solving being overspeed;
determining whether the obtained control data of the joint of the robotic arm exceeds a preset joint limit, in response to the quadratic programming solving being not overspeed;
determining the obtained control data of the joint of the robotic arm as not meeting the restriction condition, in response to exceeding the joint limit;
determining the obtained control data of the joint of the robotic arm as meeting the restriction condition, in response to not exceeding the preset joint limit;
stopping transmitting the obtained control data of the joint of the robotic arm to the motion controller of the robot, in response to not meeting the restriction condition;
continuing transmitting the obtained control data of the joint of the robotic arm to the motion controller of the robot, in response to meeting the restriction condition; and
controlling, by a motion controller of the robot, the robotic arm of the robot to move according to the obtained control data of each of the joints of the robot by transmitting the obtained control data of the joint to the motion controller.