Robot and method for controlling joints thereof
AssigneeUbtech Robotics Corp Ltd
InventorsYoujun Xiong, Gaobo Huang, Jiawen Hu
Life of this patent
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Abstract
A robot joint controlling method includes: receiving a motion command; determining one or more joint servos that are needed to execute the motion command; and determining whether the one or more joint servos are in an occupied state, and if not, executing the motion command so as to control the one or more joint servos to operate accordingly.
Claims11
A computer-implemented robot joint controlling method, executed on a processor, comprising steps of:
- establishing a motion command queue, wherein the motion command queue comprises a plurality of motion commands that are arranged in order of priority, and one of the plurality of motion commands having a highest priority to be executed;
- adding a received motion command in the command queue;
- determining one or more joint servos which are needed to execute the motion command;
- and
- determining whether the one or more joint servos are in an occupied state, and executing the motion command so as to control the one or more joint servos to operate accordingly if the one or more joint servos are not in an occupied state.
A robot comprising:
- a plurality of independent joint servos each having its own occupied state and unoccupied state;
- one or more processors electrically coupled to the joint servos;
- a memory;
- and
- one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprises:
- instructions for establishing a motion command queue, wherein the motion command queue comprises a plurality of motion commands that are arranged in order of priority, and one of the plurality of motion commands having a highest priority to be executed;
- instructions for adding a received motion command in the command queue
- instructions for receiving a motion command;
- instructions for determining one or more of the joint servos that are needed to execute the motion command;
- and
- instructions for determining whether the one or more of the joint servos are in an occupied state, and if not, executing the motion command so as to control the one or more of the joint servos to operate accordingly.
A non-transitory computer-readable storage medium storing one or more programs to be executed in a robot, the one or more programs, when being executed by one or more processors of the robot, causing the robot to perform processing comprising:
- establishing a motion command queue, wherein the motion command queue comprises a plurality of motion commands that are arranged In order of priority, and one of the plurality of motion commands having a highest priority to be executed;
- adding a received motion command in the command queue;
- determining one or more joint servos that are needed to execute the motion command;
- and
- determining whether the one or more joint servos are in an occupied state, and if not, executing the motion command so as to control the one or more joint servos to operate accordingly.
Dependencies are inferred from the claim text.