Robotic arm, method and apparatus for controlling robotic arm, robot, and storage medium
AssigneeTencent Technology (Shenzhen) Company Limited
InventorsCheng Zhou, Yu Zheng
Life of this patent
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Abstract
A robotic arm includes: a robotic arm main body; a carrying component connected to the robotic arm main body; a driving motor; and a controller connected to the driving motor. The controller is configured to generate a control signal that controls the driving motor to drive the carrying component to move. Along with a movement of the carrying component and under actions of a friction and the gravity, a target object placed on the carrying component slides on an upper surface of the carrying component and slides away from the carrying component at a target position at a target speed.
Claims20
A robotic arm, the robotic arm comprising:
- a robotic arm main body;
- a carrying component connected to the robotic arm main body;
- a driving motor;
- and
- a controller connected to the driving motor, configured to generate a control signal that controls the driving motor to drive the carrying component to move,
- wherein the control signal is generated by:
- obtaining a friction coefficient between a target object on the carrying component and the carrying component;
- constructing a sliding mechanical model based on the friction coefficient, the sliding mechanical model being configured to indicate a relationship between a change of generalized coordinates of a motion system and a driving force on the motion system in a process that the carrying component carries the target object and moves, and the motion system comprising the carrying component and the target object;
- and
- obtaining the control signal based on the sliding mechanical model, the control signal comprising a motion trajectory of the carrying component and driving forces on the motion system at various moments.
A method for controlling a robotic arm, executed by a controller, the robotic arm comprising a robotic arm main body, a carrying component connected to the robotic arm main body, and a driving motor;
- the method comprising:
- obtaining a friction coefficient between a target object on the carrying component and the carrying component;
- constructing a sliding mechanical model based on the friction coefficient, the sliding mechanical model being configured to indicate a relationship between a change of generalized coordinates of a motion system and a driving force on the motion system in a process that the carrying component carries the target object and moves, and the motion system comprising the carrying component and the target object;
- obtaining target control information based on the sliding mechanical model, the target control information comprising a motion trajectory of the carrying component and driving forces on the motion system at various moments;
- and
- driving the carrying component to move through the driving motor based on the target control information.
A non-transitory computer-readable storage medium, the storage medium storing at least one computer-readable instruction, and the at least one computer-readable instruction being loaded and executed by one or more processors to implement:
- obtaining a friction coefficient between a target object on a carrying component of a robotic arm and the carrying component, the robotic arm comprising the carrying component, a robotic arm main body connected to the carrying component, and a driving motor;
- constructing a sliding mechanical model based on the friction coefficient, the sliding mechanical model being configured to indicate a relationship between a change of generalized coordinates of a motion system and a driving force on the motion system in a process that the carrying component carries the target object and moves, and the motion system comprising the carrying component and the target object;
- obtaining target control information based on the sliding mechanical model, the target control information comprising a motion trajectory of the carrying component and driving forces on the motion system at various moments;
- and
- driving the carrying component to move through the driving motor based on the target control information.
Dependencies are inferred from the claim text.