US 11,772,265 B2
Method, system, and non-transitory computer-readable recording medium for controlling movement of a robot
Bryant Leo Pong, Hayward, CA (US); Henry A. Leinhos, Palo Alto, CA (US); and Sanghun Jung, Seoul (KR)
Assigned to Bear Robotics, Inc., Redwood City, CA (US)
Filed by Bear Robotics, Inc., Redwood City, CA (US)
Filed on Aug. 20, 2020, as Appl. No. 16/998,134.
Prior Publication US 2022/0055212 A1, Feb. 24, 2022
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1653 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A method for controlling movement of a robot, the method comprising the steps of:
(a) inputting a first linear velocity parameter and a first angular velocity parameter, which are specified as the robot moves, into a first limit model for limiting a centripetal acceleration to correct the first linear velocity parameter and the first angular velocity parameter, thereby calculating a second linear velocity parameter and a second angular velocity parameter;
(b) inputting the second linear velocity parameter and the second angular velocity parameter into at least one of a second limit model for limiting a linear velocity and a third limit model for limiting an angular velocity to correct the second linear velocity parameter and the second angular velocity parameter, thereby calculating a third linear velocity parameter as a linear velocity limit and a third angular velocity parameter as an angular velocity limit; and
(c) controlling the movement of the robot on the basis of a comparison between an actual linear velocity of the robot and the third linear velocity parameter and a comparison between an actual angular velocity of the robot and the third angular velocity parameter,
wherein the first limit model, the second limit model, and the third limit model are serially connected, and
wherein the second linear velocity parameter and the second angular velocity parameter outputted from the first limit model are inputted into the second limit model as input parameters, and output parameters outputted from the second limit model are inputted into the third limit model as input parameters.