US 12,420,413 B2
Dynamic target tracking method, robot and computer-readable storage medium
Jindi Zhang, Shenzhen (CN); Youjun Xiong, Shenzhen (CN); and Meihui Zhang, Shenzhen (CN)
Assigned to UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed by UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed on Jul. 3, 2023, as Appl. No. 18/217,662.
Claims priority of application No. 202210804647.4 (CN), filed on Jul. 8, 2022.
Prior Publication US 2024/0009841 A1, Jan. 11, 2024
Int. Cl. B25J 9/16 (2006.01); B25J 17/00 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/161 (2013.01); B25J 17/00 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented dynamic target tracking method for a robot comprising a plurality of joints, the method comprising:
obtaining a motion state of a tracked dynamic target in real time;
performing motion prediction according to the motion state at a current moment to obtain a predicted position of the dynamic target;
performing lag compensation on the predicted position to obtain a compensated predicted position;
performing on-line trajectory planning according to the compensated predicted position to obtain planning quantities of multi-step joint motion states at multiple future moments, and determining a multi-step optimization trajectory according to the planning quantities and a multi-step optimization objective function; and
controlling the joints of the robot to according to the multi-step optimization trajectory.