Method for controlling a robot and its end-portions and device thereof

A device for controlling end-portions of a robot, comprising:

• 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 joint information of a robot and determining a first posture of an end-portion of the robot in accordance with the joint information;
• instructions for obtaining end-portion information of the robot by the sensor and obtaining the second posture of the end-portion of the robot in accordance with the end-portion information of the robot and the first posture of the end-portion of the robot wherein the second posture comprises interference information;
• instructions for conducting a closed-loop control on the robot in accordance with an error between the second posture of the end-portion of the robot and a predetermined expected posture of the end-portion of the robot.