Robot control method, robot, and computer-readable storage medium

A robot, comprising:

• an end;
• one or more joints;
• 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 a trajectory planning parameter of the one or more joints of the robot, force data of the end of the robot, and force data of the one or more joints;
• instructions for obtaining an end admittance compensation amount of the robot in a Cartesian space by performing a Cartesian space admittance control operation on the force data of the end;
• instructions for determining a first joint parameter and a first slack variable corresponding to the end admittance compensation amount in a joint space of each of the one or more joints based on the end admittance compensation amount and the trajectory planning parameter, wherein the first slack variable represent a motion error of Cartesian space admittance control;
• instructions for obtaining a joint admittance compensation amount of the robot in the joint space of each of the one or more joints by performing a joint space admittance control operation on the force data of the one or more joints;
• instructions for determining a second joint parameter based on the first joint parameter, the first slack variable, the joint admittance compensation amount, and the trajectory planning parameter;
• instructions for determining a target joint commanding position based on the second joint parameter;
• and
• instructions for controlling the robot to move according to the target joint commanding position.

A non-transitory computer-readable storage medium for storing one or more computer programs, wherein the one or more computer programs comprise:

• instructions for instructions for obtaining a trajectory planning parameter of one or more joints of the robot, force data of an end of the robot, and force data of the one or more joints;
• instructions for obtaining an end admittance compensation amount of the robot in a Cartesian space by performing a Cartesian space admittance control operation on the force data of the end;
• instructions for determining a first joint parameter and a first slack variable corresponding to the end admittance compensation amount in a joint space of each of the one or more joints based on the end admittance compensation amount and the trajectory planning parameter, wherein the first slack variable represent a motion error of Cartesian space admittance control;
• instructions for obtaining a joint admittance compensation amount of the robot in the joint space of each of the one or more joints by performing a joint space admittance control operation on the force data of the one or more joints;
• instructions for determining a second joint parameter based on the first joint parameter, the first slack variable, the joint admittance compensation amount, and the trajectory planning parameter;
• instructions for determining a target joint commanding position based on the second joint parameter;
• and
• instructions for controlling the robot to move according to the target joint commanding position.