US 11,654,557 B2
Direct force feedback control method, and controller and robot using the same
Xiaoyu Ren, Shenzhen (CN); Liqun Huang, 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 Mar. 10, 2021, as Appl. No. 17/198,167.
Claims priority of application No. 202010538326.5 (CN), filed on Jun. 12, 2020.
Prior Publication US 2021/0387334 A1, Dec. 16, 2021
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1633 (2013.01) [B25J 9/1607 (2013.01); B25J 13/085 (2013.01); B25J 13/089 (2013.01); G05B 2219/37091 (2013.01); G05B 2219/50391 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A computer-implemented direct force feedback control method for a robotic arm, comprising:
providing a controller electrically coupled to the robotic arm;
obtaining, by the controller, an actual position and an actual speed of an end of the robotic arm and an actual external force acting on the end of the robotic arm in a Cartesian space;
calculating, by the controller, an impedance control component of the end of the robotic arm in the Cartesian space based on the obtained actual position, the obtained actual speed, the obtained actual external force, an expected position, an expected speed, and an expected acceleration of the end of the robotic arm;
calculating, by the controller, a force control component of the end of the robotic arm in the Cartesian space based on an expected interaction force acting on the end of the robotic arm, the actual external force, and the actual speed;
determining, by the controller, whether the actual external force is larger than a preset threshold; and
obtaining, by the controller, a total force control quantity of the end of the robotic arm in the Cartesian space by adding the force control component and the impedance control component, in response to the actual external force being larger than the preset threshold, and performing an end force control on the robotic arm according to the total force control quantity.