ROBOT CONTROL METHOD, ROBOT AND COMPUTER-READABLE STORAGE MEDIUM

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ROBOT CONTROL METHOD, ROBOT AND COMPUTER-READABLE STORAGE MEDIUM

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CHEN CHUNYU / GE LIGANG / LIU YIZHANG / ZHOU JIANGCHEN / LUO QIUYUE / XIONG YOUJUN

A method of controlling a robot includes: obtaining an inertia matrix and a slack variable of the robot, and determining a momentum equation of the robot according to the inertia matrix and the slack variable; obtaining reference joint angles corresponding to a reference action of the robot; determining an optimization objective function of the momentum equation according to a first preset weight coefficient of the slack variable and a second preset weight coefficient of the reference joint angles; and determining joint angles of the robot according to the optimization objective function, and driving the robot to move according to the joint angles of the robot.

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Titel :

ROBOT CONTROL METHOD, ROBOT AND COMPUTER-READABLE STORAGE MEDIUM

Beteiligte:

CHEN CHUNYU (Autor:in) / GE LIGANG (Autor:in) / LIU YIZHANG (Autor:in) / ZHOU JIANGCHEN (Autor:in) / LUO QIUYUE (Autor:in) / XIONG YOUJUN (Autor:in)

Erscheinungsdatum :

2023-06-15

Medientyp :

Patent

Format :

Elektronische Ressource

Sprache :

Englisch

Klassifikation :

IPC:

B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge

ROBOT CONTROL METHOD, ROBOT AND COMPUTER-READABLE STORAGE MEDIUM

ROBOT CONTROL METHOD, ROBOT AND COMPUTER-READABLE STORAGE MEDIUM

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