Robotic arm control
AssigneeTencent Technology (Shenzhen) Company Limited
InventorsYihao HUANG, Shuai WANG
Life of this patent
Estimating the term…
Abstract
Historical data pairs at N moments are obtained. A historical data pair at a moment in the N moments includes input data at the moment, and output data at the moment, the input data controls a motion of a robotic arm at the moment, to cause a first object to be kept in a balanced state on the robotic arm, the output data represents poses of the robotic arm and the first object at the moment when the robotic arm is controlled based on the input data at the moment, and Nis a positive integer. Predicted input data of the robotic arm at a current moment is determined based on the historical data pairs at the N moments. Based on the predicted input data, a motion of the robotic arm at the current moment is controlled, the first object is balanced during the motion of the robotic arm.
Claims20
A method for robotic arm control, comprising:
- obtaining historical data pairs at N moments, a historical data pair at a moment comprising input data at the moment, and output data at the moment, the input data controlling a motion of a robotic arm at the moment, to cause a first object to be kept in a balanced state on the robotic arm, the output data representing poses of the robotic arm and the first object at the moment when the robotic arm is controlled based on the input data at the moment, and N being a positive integer;
- determining predicted input data of the robotic arm at a current moment based on the historical data pairs at the N moments;
- and
- controlling, based on the predicted input data, a motion of the robotic arm at the current moment, the first object being balanced during the motion of the robotic arm.
An apparatus for controlling a robotic arm, comprising processing circuitry configured to:
- obtain historical data pairs at N moments, a historical data pair at a moment comprising input data at the moment, and output data at the moment, the input data controlling a motion of the robotic arm at the moment, to cause a first object to be kept in a balanced state on the robotic arm, the output data representing poses of the robotic arm and the first object at the moment when the robotic arm is controlled based on the input data at the moment, and N being a positive integer;
- determine predicted input data of the robotic arm at a current moment based on the historical data pairs at the N moments;
- and
- control, based on the predicted input data, a motion of the robotic arm at the current moment, the first object being balanced during the motion of the robotic arm.
A non-transitory computer-readable storage medium storing instructions which when executed by at least one processor cause the at least one processor to perform:
- obtaining historical data pairs at N moments, a historical data pair at a moment comprising input data at the moment, and output data at the moment, the input data controlling a motion of a robotic arm at the moment, to cause a first object to be kept in a balanced state on the robotic arm, the output data representing poses of the robotic arm and the first object at the moment when the robotic arm is controlled based on the input data at the moment, and N being a positive integer;
- determining predicted input data of the robotic arm at a current moment based on the historical data pairs at the N moments;
- and
- controlling, based on the predicted input data, a motion of the robotic arm at the current moment, the first object being balanced during the motion of the robotic arm.
Dependencies are inferred from the claim text.