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. 28, 2024
Filed:
Dec. 16, 2021
Ubtech Robotics Corp Ltd, Shenzhen, CN;
Yizhang Liu, Shenzhen, CN;
Youjun Xiong, Shenzhen, CN;
Xuan Luo, Shenzhen, CN;
Xianwen Zeng, Shenzhen, CN;
Ligang Ge, Shenzhen, CN;
Chunyu Chen, Shenzhen, CN;
UBKANG (QINGDAO) TECHNOLOGY CO., LTD., Qingdao, CN;
Abstract
A joint acceleration planning method, a redundant robot using the same, and a computer readable storage medium are provided. The method includes: obtaining an optimization objective function, a joint acceleration inequation constraint function and a joint acceleration equation constraint function corresponding to the optimization target from a quadratic programming function library, where the optimization objective function is an objective function obtained based on the upper and lower limits of the optimization target and a Euclidean distance algorithm; and obtaining a joint acceleration planning result by performing a quadratic optimization solving on a joint acceleration of each of the target joints of the robot at time k according to the end Cartesian space speed at time k+1, the joint parameter set of the target joints of the robot at time k, the sampling period, the optimization objective function, the joint acceleration inequation constraint function, and the joint acceleration equation constraint function.