Method for avoiding singularities of robotic arm, control device and computer-readable storage medium
AssigneeUbtech Robotics Corp Ltd
InventorsXUAN LUO, Chunyu Chen
Life of this patent
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Abstract
A method for avoiding singularities of a robotic arm includes: calculating a virtual environment external force required by the robotic arm to avoid singularities based on current joint positions of joints on the robotic arm when it is determined that the robotic arm needs to avoid singularities; obtaining a current end force of the robotic arm and a desired end trajectory of the robotic arm; performing admittance control calculation based on the virtual environment external force, the current end force and the desired end trajectory to obtain a corrected end trajectory of the robotic arm; and controlling the robotic arm to move based on the corrected end trajectory.
Claims20
A computer-implemented method for avoiding singularities of a robotic arm, the method comprising:
- calculating a virtual environment external force required by the robotic arm to avoid singularities based on current joint positions of joints on the robotic arm when it is determined that the robotic arm needs to avoid singularities;
- obtaining a current end force of the robotic arm and a desired end trajectory of the robotic arm;
- performing admittance control calculation based on the virtual environment external force, the current end force and the desired end trajectory to obtain a corrected end trajectory of the robotic arm;
- and
- controlling the robotic arm to move based on the corrected end trajectory.
A control device comprising:
- one or more processors;
- and
- a memory coupled to the one or more processors, the memory storing programs that, when executed by the one or more processors, cause performance of operations comprising:
- calculating a virtual environment external force required by a robotic arm to avoid singularities based on current joint positions of joints on the robotic arm when it is determined that the robotic arm needs to avoid singularities;
- obtaining a current end force of the robotic arm and a desired end trajectory of the robotic arm;
- performing admittance control calculation based on the virtual environment external force, the current end force and the desired end trajectory to obtain a corrected end trajectory of the robotic arm;
- and
- controlling the robotic arm to move based on the corrected end trajectory.
A non-transitory computer-readable storage medium storing instructions that, when executed by at least one processor of a control device, cause the at least one processor to perform a method, the method comprising:
- calculating a virtual environment external force required by the robotic arm to avoid singularities based on current joint positions of joints on the robotic arm when it is determined that the robotic arm needs to avoid singularities;
- obtaining a current end force of the robotic arm and a desired end trajectory of the robotic arm;
- performing admittance control calculation based on the virtual environment external force, the current end force and the desired end trajectory to obtain a corrected end trajectory of the robotic arm;
- and
- controlling the robotic arm to move based on the corrected end trajectory.
Dependencies are inferred from the claim text.