Control system and method for movement of neck mechanism for robot
AssigneeUbtech Robotics Corp Ltd
InventorsHouzhu Ding, Mohammad Iman Mokhlespour Esfahani, Chengkun Zhang, Huan Tan, Youjun Xiong
Life of this patent
Estimating the term…
Abstract
A control system for a neck mechanism includes a perception system configured to track movement of an object, and a perception control system that controls a rotary motor to yaw a platform and controls a first linear actuator and a second linear actuator that is in parallel with the first linear actuator to pitch and roll the platform according to a target position of the platform. The perception system tracks movement of the object by estimating its position and pose in 3D space and the platform is moved according to a vision-based position and pose estimation result.
Claims20
A control system for a neck mechanism comprising a rotary motor, a first linear actuator, a second linear actuator in parallel with the first line actuator, a rotary stage positioned between an upper platform and a lower platform, and a support shaft positioned behind and between the first linear actuator and the second linear actuator, wherein the first linear actuator, the second linear actuator, and the support shaft are connected between the upper platform and the lower platform, wherein the control system comprises:
- a perception system configured to track movement of an object;
- a perception control system electronically connected with the perception system and configured to compute a target position of the upper platform according to the movement, wherein a processor controls the rotary motor to rotate the rotary stage to yaw the upper platform according to the target position, and controls the first linear actuator and the second linear actuator to pitch and roll the upper platform according to the target position.
A method of controlling movement of a neck mechanism comprising a rotary motor, a first linear actuator, a second linear actuator in parallel with the first line actuator, a rotary stage positioned between an upper platform and a lower platform, and a support shaft positioned behind and between the first linear actuator and the second linear actuator, wherein the first linear actuator, the second linear actuator, and the support shaft are connected between the upper platform and the lower platform, wherein the method comprises:
- using a camera system to capture an external marker in an image within a field of view of the camera system and detect four corners of the external marker in an image coordinate system;
- calculating a yaw angle and a pitch angle of the external marker based on a center of the external marker in the image coordinate system and a distance of the external marker;
- calculating a roll angle of the external marker based on a function of the external marker rotating along a horizontal axis;
- performing inverse kinematic calculations based on angles calculated from the external marker including the yaw angle, the pitch angle and/or the roll angle of the external marker;
- yawing the upper platform by rotating the rotary stage according to the inverse kinematic calculations;
- and
- pitching or rolling the upper platform by extending or retracting the first linear actuator and/or the second linear actuator according to the inverse kinematic calculations.
Dependencies are inferred from the claim text.