The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 04, 2022
Filed:
Dec. 30, 2019
Cloudminds (Shenzhen) Robotics Systems Co., Ltd., Shenzhen, CN;
Tianhao Wang, Shenzhen, CN;
Shenhua Xu, Shenzhen, CN;
CLOUDMINDS ROBOTICS CO., LTD., Shanghai, CN;
Abstract
A method for calculating an arm angle range of a robot arm includes: determining a pose at an tail end position of the robot arm; judging whether an angle of an elbow joint is within a limit thereof when an arm angle is 180 degrees; if yes, constructing a first position matrix characterizing the elbow joint by using the pose and the arm angle; constructing a second position matrix of the elbow joint by using DH parameters of other joints of the robot arm; calculating, according to the first position matrix and the second position matrix, a first arm angle feasible region satisfying a limit of a position joint; judging whether the robot arm has a secondary position joint; and intersecting with the calculated first arm angle feasible region to obtain an arm angle range if no secondary position joint is present at the robot arm.