US 12,420,416 B2
Robotic arm control method, robot and its controller
Jin-Liang Chen, Shenzhen (CN); and Xiang-Yu Chen, Shenzhen (CN)
Assigned to Shenzhen Pengxing Intelligent Research Co., Ltd., Shenzhen (CN)
Filed by Shenzhen Pengxing Intelligent Research Co., Ltd., Shenzhen (CN)
Filed on Jun. 29, 2023, as Appl. No. 18/344,847.
Claims priority of application No. 202210748951.1 (CN), filed on Jun. 29, 2022.
Prior Publication US 2024/0001553 A1, Jan. 4, 2024
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1694 (2013.01); B25J 13/085 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method for controlling mechanical arm applied in a robot, the robot comprising a first mechanical arm, the first mechanical arm comprising a fixed portion and an end effector, the fixed portion connected to a body of the robot, the method comprising:
receiving an instruction to identify a target object to be operated;
responsive to that a target object is identified, determining whether the fixed portion of the first mechanical arm of the robot is within a first location area, or determining whether a distance between the fixed portion of the first mechanical arm of the robot and the target object is less than or equal to a first distance; wherein the first location area is a location range of the end effector of the first mechanical arm is capable of reaching and operating the target object directly or through a tool, the first distance is a maximum distance of the end effector of the first mechanical arm is capable of reaching and operating the target object directly or through a tool;
responsive to that the fixed portion of the first mechanical arm of the robot is beyond the first location area, or the distance between the fixed portion of the first mechanical arm and the target object to be operated is longer than the first distance, controlling the robot to move according to a moving control instruction, until the fixed portion of the first mechanical arm of the robot is within the first location area, or until the distance between the fixed portion of the first mechanical arm and the target object is less than or equal to the first distance; and
responsive to that the fixed portion of the first mechanical arm of the robot is within the first location area, or the distance between the fixed portion of the first mechanical arm and the target object to be operated is less than or equal to the first distance, receiving a control instruction for operating the target object, invoking trajectory parameters of the end effector of the first mechanical arm relative to the target object, and obtaining a target posture of the end effector of the first mechanical arm relative to the target object, controlling the end effector of the first mechanical arm to reach and operate the target object directly or indirectly through a tool according to the trajectory parameters and the target posture;
wherein before the processor controls the robot to move according to the moving control instruction, until the fixed portion of the first mechanical arm of the robot is within the first location area, or until the distance between the fixed portion of the first mechanical arm and the target object is less than or equal to the first distance,
the processor obtains a force sensing signal of an external force received by the body or the first mechanical arm of the robot;
the processor obtains a series of velocity control values of the moving of the robot according to a deviation of the force sensing signals of the robot in various dimensions;
the processor controls the robot to move according to the velocity control values, until the fixed portion of the first mechanical arm of the robot is within the first location area, or the distance between the fixed portion of the first mechanical arm of the robot and the target object is less than or equal to the first distance; and
the memory stores a plurality of third trajectories of the moving of the robot.