Direct force feedback control method, and controller and robot using the same

A controller for a robotic arm, comprising:

• a processor;
• a memory coupled to the 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 an actual position and an actual speed of an end of the robotic arm and an actual external force acting on the end of the robotic arm in a Cartesian space;
• instructions for calculating an impedance control component of the end of the robotic arm in the Cartesian space based on the obtained actual position, the obtained actual speed, the obtained actual external force, an expected position, an expected speed, and an expected acceleration of the end of the robotic arm;
• instructions for calculating a force control component of the end of the robotic arm in the Cartesian space based on an expected interaction force acting on the end of the robotic arm, the actual external force, and the actual speed;
• instructions for determining whether the actual external force is larger than a preset threshold;
• and
• instructions for obtaining a total force control quantity of the end of the robotic arm in the Cartesian space by adding the force control component and the impedance control component, in response to the actual external force being larger than the preset threshold.

A robot comprising a controller, wherein the controller comprises:

• a processor;
• a memory coupled to the 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 an actual position and an actual speed of an end of the robotic arm and an actual external force acting on the end of the robotic arm in a Cartesian space;
• instructions for calculating an impedance control component of the end of the robotic arm in the Cartesian space based on the obtained actual position, the obtained actual speed, the obtained actual external force, an expected position, an expected speed, and an expected acceleration of the end of the robotic arm;
• instructions for calculating a force control component of the end of the robotic arm in the Cartesian space based on an expected interaction force acting on the end of the robotic arm, the actual external force, and the actual speed;
• instructions for determining whether the actual external force is larger than a preset threshold;
• and
• instructions for obtaining a total force control quantity of the end of the robotic arm in the Cartesian space by adding the force control component and the impedance control component, in response to the actual external force being larger than the preset threshold.