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:
May. 23, 2023
Filed:
Dec. 28, 2020
Ubtech Robotics Corp Ltd, Shenzhen, CN;
Liqun Huang, Shenzhen, CN;
Xiaoyu Ren, Shenzhen, CN;
Yuesong Wang, Shenzhen, CN;
Youjun Xiong, Shenzhen, CN;
UBTECH ROBOTICS CORP LTD, Shenzhen, CN;
Abstract
The present disclosure provides a redundant robotic arm control method, a redundant robotic arm, and a computer readable storage medium. The method includes: obtaining an external force acting on an end of the robotic arm and an external torque acting on each joint; calculating a first joint speed of each joint based on a degree of influence of the joint on the end in each motion dimension and the external force acting on the end; determining a zero space speed of each joint corresponding to a current position of the end based on a link torque of an external force acting on a link with respect to the joint; calculating a total joint speed based on the first joint speed and the zero space speed; and controlling the robotic arm to the move according to the total joint speed.