Method and device for controlling arm of robot

A device for controlling end-portions of a robot, wherein the device comprises:

• a memory;
• a 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 obstacle information relating to the arm of the robot by at least one sensor, wherein the obstacle information comprises information relating to obstacles being spaced apart from the arm of the robot for a distance less than a target distance threshold, a number of redundant degrees of freedom of the arm of the robot equals to N, and N is an integer greater than zero;
• instructions for obtaining current posture information of the arm of the robot by a least one detector and obtaining an expected posture information of an end-portion of the arm of the robot;
• instructions for determining an expected trajectory of the end-portion of the arm of the robot according to the obstacle information, the current posture information, the expected posture information of the end-portion and a predetermined dynamic system model function;
• instructions for determining an expected speed of the end-portion of the arm of the robot in accordance with the expected trajectory of the end-portion;
• instructions for determining a virtual speed of a target point on the arm of the robot in accordance with the obstacle information and the current posture information of the arm of the robot, wherein a distance between the target point of the arm and the obstacle is smaller than the distance between any other points on the arm and the obstacle;
• and
• instructions for configuring a target join speed corresponding to a joint of the arm of the robot in accordance with the virtual speed and the expected speed of the end-portion.