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. 05, 2026
Filed:
Dec. 24, 2023
Ubtech Robotics Corp Ltd, Shenzhen, CN;
Xuan Luo, Shenzhen, CN;
Chunyu Chen, Shenzhen, CN;
UBTECH ROBOTICS CORP LTD, Shenzhen, CN;
Abstract
A method for avoiding singularities of a robotic arm includes: calculating a virtual environment external force required by the robotic arm to avoid singularities based on current joint positions of joints on the robotic arm when it is determined that the robotic arm needs to avoid singularities; obtaining a current end force of the robotic arm and a desired end trajectory of the robotic arm; performing admittance control calculation based on the virtual environment external force, the current end force and the desired end trajectory to obtain a corrected end trajectory of the robotic arm; and controlling the robotic arm to move based on the corrected end trajectory.