Admittance control method, robot, and computer-readable storage medium

A robot, comprising:

• a processor;
• a memory coupled to the processor;
• and
• one or more computer programs stored in the memory and executable on the processor;
• wherein, the one or more computer programs comprise:
• instructions for obtaining, based on a first admittance controller transfer function between force and position, a desired position of the robot in a current control cycle;
• instructions for determining a corresponding Jacobian matrix according to a configuration of the robot in the current control cycle, and calculating an ill condition number of the Jacobian matrix;
• and
• instructions for controlling the robot to move by inputting the obtained desired position in the current control cycle to a corresponding joint of the robot, in response to the ill condition number being less than a preset maximum ill condition number.

A non-transitory computer-readable storage medium for storing one or more computer programs, wherein the one or more computer programs comprise:

• instructions for obtaining, based on a first admittance controller transfer function between force and position, a desired position of the robot in a current control cycle;
• instructions for determining a corresponding Jacobian matrix according to a configuration of the robot in the current control cycle, and calculating an ill condition number of the Jacobian matrix;
• and
• instructions for controlling the robot to move by inputting the obtained desired position in the current control cycle to a corresponding joint of the robot, in response to the ill condition number being less than a preset maximum ill condition number.