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US 12,564,945 B2Granted
System and method for controlling the robot, electronic device and computer readable medium
AssigneeABB Schweiz AG
InventorsYichao Mao, Zheng Ju, Xiaohao Chen
Life of this patent
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Abstract
A system and a method for controlling the robot. The method includes determining, based on feedback data received from the robot, first position information of a joint of the robot. The feedback data indicates a movement of the joint. The method also includes determining second position information of the joint based on sensing data received from a sensor. The sensing data indicates a relative movement between the joint and a second object to be aligned with the first object. The method also predicts a target position for aligning the first object with the second object.
Claims18
A method for controlling a robot comprising:
- determining, based on feedback data received from the robot during at least one first movement, first position information of a joint of the robot, the feedback data indicating a movement of the joint to which a tool being attached for holding a first object;
- determining second position information of the joint of the robot based on sensing data received from a sensor during the at least one first movement, the sensing data indicating a relative movement between the joint and a second object to be aligned with the first object;
- generating, based on the first position information and the second position information, a prediction of a target position for aligning the first object with the second object;
- and
- driving the joint of the robot to the target position based on a predicted trajectory for guiding the first object from a current position to the target position determined during the at least one first movement of the robot, wherein the predicted trajectory is based on feedback data received from the robot during the at least one first movement;
- wherein the first position information comprises a set of first sampled parameters characterizing a reference position of the joint at one or more first predetermined time points during the at least one first movement, wherein the second position information comprises a set of second sampled parameters characterizing a set of reference position relationships between the joint of the robot and the second object at one or more second predetermined time points during the at least one first movement;
- and
- wherein the prediction of the target position is generated by fusing the set of first sampled parameters at the one or more first predetermined time points and the set of second sampled parameters at the one or more second predetermined time points based on a predetermined fusion mode associated with an expected operation to be performed by the robot;
- wherein, for a first given predetermined time point, determining the first set of sampled parameters comprises:
- determining third position information based on a sensor arranged on the joint, the third position information comprising a third sampled parameter characterizing a reference position relationship between the second object and the joint at the first given predetermined time point during the at least one first movement,
- obtaining, from the set of first sampled parameters of the first position information, a first sampled parameter at a first time point and a first sampled parameter at a second time point based on the third position information of the joint,
- determining a first sampled parameter at the first given predetermined time point based on the third sampled parameter, the first sampled parameter at the first time point, and the second sampled parameter at the second time point,
- wherein the first time point occurs before the first predetermined time point and the second time point occurs after the first predetermined time point.
10 more elements
A system for controlling a robot comprising:
- a data collector coupled to the robot and configured to determine, based on feedback data received from the robot from at least one first movement, first position information of a joint of the robot, the feedback data indicating a movement of the joint to which a tool being attached for holding a first object, and coupled to a sensor and configured to determine second position information of the joint of the robot based on sensing data received from the sensor, the sensing data indicating a relative movement between the joint and a second object to be aligned with the first object;
- a first estimator coupled to the data collector and configured to generate, based on the first position information and the second position information, a prediction of a target position aligning the first object with the second object;
- and
- a command generator coupled to the robot and configured to generate at least one move command to drive the joint of the robot to perform the at least one first movement, to drive the joint of the robot to the target position based on a predicted trajectory for guiding the first object from a current position to the target position,
- wherein the predicted trajectory is based on feedback data received from the robot during the at least one first movement;
- wherein the first position information comprises a set of first sampled parameters characterizing a reference position of the joint at one or more first predetermined time points during the robot movement;
- wherein the second position information comprises a set of second sampled parameters characterizing a set of reference position relationships between the joint of the robot and the second object at the one or more second predetermined time points;
- and
- wherein the first estimator generates the prediction of the target position by fusing the first set of sampled parameters at the one or more first predetermined time points and the second set of sampled parameters at the one or more second predetermined time points based on a predetermined fusion mode associated with an expected operation to be performed by the robot;
- wherein, for a first given predetermined time point, determining the first set of sampled parameters comprises:
- determining third position information based on a sensor arranged on the joint, the third position information comprising a third sampled parameter characterizing a reference position relationship between the second object and the joint at the first given predetermined time point during the at least one first movement,
- obtaining, from the set of first sampled parameters of the first position information, a first sampled parameter at a first time point and a first sampled parameter at a second time point based on the third position information of the joint,
- determining a first sampled parameter at the first given predetermined time point based on the third sampled parameter, the first sampled parameter at the first time point, and the second sampled parameter at the second time point,
- wherein the first time point occurs before the first given predetermined time point and the second time point occurs after the first given predetermined time point.
11 more elements
Dependencies are inferred from the claim text.