Ubtech Robotics Corp Ltd

2021a351us1

Huan Tan

Youjun Xiong

Yizhang Liu

Jianxin Pang

Zhanjia Bi

Xiaoyu Ren

Liqun Huang

Zhihao Zhang

Meihui Zhang

Dake Zheng

Dunhao Liu

A path generation method for a robot includes: based on a scene model of a current scene and a machine model corresponding to the robot, combined with multiple configurations of the robot, determining a plurality of initial points between a start point and an end point in the scene model; removing redundant points from the plurality of the initial points to obtain necessary points among the initial points; and connecting the necessary points to obtain a path between the start point and the end point.

Path generation method for robot, robot and computer-readable storage medium

A motion terrain determining method, a robot, and a computer-readable storage medium are provided. The method includes: determining each sine parameter and each cosine parameter corresponding to a target joint in a plurality of joints of the robot according to one or more constraint conditions; determining a motion trajectory of the robot according to the sine parameter and the cosine parameter corresponding to the target joint; and determining a motion terrain of the robot according to the motion trajectory. In this manner, the best motion terrain can be obtained, and the robot is controlled to move on the determined motion terrain when determining the dynamics parameters of the robot, where the obtained dynamics parameters are more accurate to effectively improve the efficiency of the identification of the dynamics parameters.

Motion terrain determining method, robot, and computer-readable storage medium

A navigation method for a disinfection robot includes: obtaining an initial map within a field of view of the robot; generating a disinfection grid having multiple disinfection squares on the initial map, and determining multiple disinfecting consideration points in the disinfection squares; determining a disinfection order of disinfecting targets corresponding to the disinfection squares according to distances between the robot after the robot completes disinfection of one of the targets corresponding to one of the disinfection squares and to-be-disinfected ones of the disinfection squares; according to distances between the position and the disinfecting consideration points in to-be-disinfected ones of the disinfection squares, combined with priority levels of the disinfecting consideration points in to-be-disinfected ones of the disinfection squares, determining disinfecting planning points in the disinfection squares; and performing disinfection to the targets corresponding to the disinfection squares according to the disinfection order and the disinfecting planning points.

Navigation method for disinfection robot, robot and computer-readable storage medium

A method for navigating a robot through a limited space includes: obtaining a planned first path for the robot to reach a target position; calculating curvature and/or normal vectors of points in the first path; according to the curvature and a preset curvature threshold, and/or according to the normal vectors and a preset normal vector change threshold, obtaining a first straight path for the robot outside the limited space by curve fitting; determining an intersection of a centerline of the limited space and the first straight path, and determining a second straight path for the robot to move through the limited space according to the centerline and the intersection; and generating a second path for the robot to move through the limited space based on the first straight path and the second straight path, and navigating the robot to move through the limited space according to the second path.

Method for navigating root through limited space, robot and computer-readable storage medium

A motion trajectory planning method for a robotic manipulator having a visual inspection system, includes: in response to a command instruction, obtaining environmental data collected by the visual inspection system; determining an initial DS model motion trajectory of the robotic manipulator according to the command instruction, the environmental data, and a preset teaching motion DS model library, wherein the teaching motion DS model library includes at least one DS model motion trajectory generated based on human teaching activities; and at least based on a result of determining whether there is an obstacle, whose pose is on the initial DS model motion trajectory, in a first object included in the environmental data, correcting the initial DS model motion trajectory to obtain a desired motion trajectory of the robotic manipulator.

Motion trajectory planning method for robotic manipulator, robotic manipulator and computer-readable storage medium

A collision detection method, a storage medium, and a robot are provided. The method includes: calculating an external torque of a first joint of the robot based on a preset generalized momentum-based disturbance observer; calculating an external torque of a second joint of the robot based on a preset long short-term memory network; calculating an external torque of a third joint of the robot based on the external torque of the first joint and the external torque of the second joint; and determining whether the robot has collided with an external environment or not based on the external torque of the third joint and a preset collision threshold. In the present disclosure, the component of the model error in the joint external torque calculated by the disturbance observer is eliminated to obtain the accurate contact torque, thereby improving the accuracy of the collision detection.

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Shenzhen, China

Huan Tan