Robot controlling method, motion computing device and robot system

A motion computing device, comprising:

• a processing circuit;
• a memory electrical connected to the processing circuit;
• and
• one or more programs stored in the memory to be launched by the processing circuit and comprising instructions for:
• receiving a depth image of a robot and a workspace of the robot captured by a depth camera, wherein a tool is disposed on an end of the robot;
• obtaining an obstacle parameter of an obstacle and tool parameter of the tool according to the depth image, wherein the tool parameter comprises two opposite endpoints of the tool and the obstacle parameter comprises an obstacle point;
• obtaining a distance vector between the end of the robot and the obstacle parameter;
• establishing a first endpoint vector and a second endpoint vector according to the tool parameter and the obstacle parameter, wherein the first endpoint vector and the second endpoint vector are established according to the two opposite endpoints of the tool and the obstacle point of the obstacle respectively by the processing circuit;
• establishing a virtual torque according to the distance vector, the first endpoint vector, and the second endpoint vector;
• and
• outputting a control signal according to the tool parameter, the obstacle parameter and the virtual torque to the robot to drive the robot to move and rotate the tool to a target, wherein the control signal is adjusted based on the virtual torque to rotate the robot and reduce a length of the first endpoint vector when a length of the first endpoint vector is greater than the length of the second endpoint vector.

A robot system, comprising:

• a robot comprising an end, wherein a tool disposed on the end;
• a depth camera configured to capture the robot and a workspace of the robot to obtain a depth image;
• a motion computing device configured to receive the depth image and output a control signal according to the depth image to drive the robot, wherein the motion computing device comprising:
• a processing circuit;
• a memory electrical connected to the processing circuit;
• and
• one or more programs stored in the memory to be launched by the processing circuit and comprising instructions for:
• receiving a depth image of the robot and the workspace of the robot captured by a depth camera, wherein a tool is disposed on the end of the robot;
• obtaining an obstacle parameter of an obstacle and tool parameter of the tool according to the depth image, wherein the tool parameter comprises two opposite endpoints of the tool and the obstacle parameter comprises an obstacle point;
• obtaining a distance vector between the end of the robot and the obstacle parameter;
• establishing a first endpoint vector and a second endpoint vector according to the tool parameter and the obstacle parameter;
• establishing a virtual torque according to the distance vector, the first endpoint vector, and the second endpoint vector, wherein the first endpoint vector and the second endpoint vector are established according to the two opposite endpoints of the tool and the obstacle point of the obstacle respectively by the processing circuit;
• and
• outputting a control signal according to the tool parameter, the obstacle parameter and the virtual torque to the robot to drive the robot to move and rotate the tool to a target, wherein the control signal is adjusted based on the virtual torque to rotate the robot and reduce a length of the first endpoint vector when a length of the first endpoint vector is greater than the length of the second endpoint vector.