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

Patent metadata

Field	Value
Publication number	US-12285871-B2
Application number	US-202318201744-A
Country	US
Kind code	B2
Filing date	May 24, 2023
Priority date	May 30, 2022
Publication date	Apr 29, 2025
Grant date	Apr 29, 2025

Abstract

A robot control method, a computer-readable storage medium, and a robot are provided. The method includes: obtaining first motion data, where the first motion data is human arm end motion data collected by a virtual reality device; obtaining second motion data by mapping the first motion data to a working space of an end of a robotic arm of the robot; obtaining a state of each joint of the robotic arm of the robot, and obtaining control data of the joint by performing a quadratic programming solving on the second motion data and the state of the joint; and controlling, by a motion controller of the robot, the robotic arm of the robot to move according to the obtained control data of each joint of the robot by transmitting the control data of the joint to the motion controller, so that the control method is relatively more natural, intuitive, and flexible.

First claim

What is claimed is:

1. A computer-implemented control method for a robot with a robotic arm having one or more joints, comprising:
obtaining first motion data, wherein the first motion data is human arm end motion data collected by a virtual reality device;
obtaining second motion data by mapping the first motion data to a working space of an end of the robotic arm of the robot;
obtaining a state of each of the joints of the robotic arm of the robot, and obtaining control data of the joint by performing a quadratic programming solving on the second motion data and the state of the joint;
determining whether the quadratic programming solving is overspeed based on the obtained control data of each of the joints of the robotic arm;
determining the obtained control data of the joint of the robotic arm as not meeting the restriction condition, in response to the quadratic programming solving being overspeed;
determining whether the obtained control data of the joint of the robotic arm exceeds a preset joint limit, in response to the quadratic programming solving being not overspeed;
determining the obtained control data of the joint of the robotic arm as not meeting the restriction condition, in response to exceeding the joint limit;
determining the obtained control data of the joint of the robotic arm as meeting the restriction condition, in response to not exceeding the preset joint limit;
stopping transmitting the obtained control data of the joint of the robotic arm to the motion controller of the robot, in response to not meeting the restriction condition;
continuing transmitting the obtained control data of the joint of the robotic arm to the motion controller of the robot, in response to meeting the restriction condition; and
controlling, by a motion controller of the robot, the robotic arm of the robot to move according to the obtained control data of each of the joints of the robot by transmitting the obtained control data of the joint to the motion controller.

2. The method of claim 1 , determining whether the quadratic programming solving is overspeed based on the control data of each of the joints of the robotic arm comprises:
calculating a Jacobian matrix corresponding to the control data of each of the joints of the robotic arm;
calculating a condition number based on the Jacobian matrix;
determining the quadratic programming solving as being overspeed, in response to the condition number being larger than a preset condition number threshold; and
determining the quadratic programming solving as being not overspeed, in response to the condition number being smaller than or equal to the condition number threshold.

3. The method of claim 1 , wherein after stopping transmitting the control data of each of the joints of the robotic arm to the motion controller of the robot, the method further comprises:
in a subsequent control cycle of the robot, continuing to obtain the control data of each of the joints of the robotic arm of the robot by performing the quadratic programming solving on the second motion data and the state of the joint;
determining whether the control data of each of the joints of the robotic arm meets the restriction condition;
determining whether the control data of each of the joints of the robotic arm meets a preset transition ending condition, in response to meeting the restriction condition;
obtaining smoothed control data of each of the joints of the robotic arm by smoothing the control data of the joint to transmit to the motion controller of the robot, in response to not meeting the transition ending condition; and
continuing to transmit the control data of each of the joints of the robotic arm to the motion controller of the robot, in response to meeting the transition ending condition.

4. The method of claim 3 , wherein determining whether the control data of each of the joints of the robotic arm meets the preset transition ending condition comprises:
calculating a data error between the control data of each of the joints of the robotic arm and the state of the joint;
determining whether the data error is smaller than a preset error threshold;
determining the control data of each of the joints of the robotic arm as meeting the transition ending condition, in response to being smaller than the error threshold; and
determining the control data of each of the joints of the robotic arm as not meeting the transition ending condition, in response to being larger than or equal to the error threshold.

5. The method of claim 3 , wherein obtaining the smoothed control data of each of the joints of the robotic arm by smoothing the control data of the joint comprises:
obtaining the smoothed control data of each of the joints of the robotic arm by smoothing the control data of the joint using a proportional-derivative controller.

6. A non-transitory computer-readable storage medium for storing one or more computer programs, wherein the one or more computer programs comprise:
instructions for obtaining first motion data, wherein the first motion data is human arm end motion data collected by a virtual reality device;
instructions for obtaining second motion data by mapping the first motion data to a working space of an end of a robotic arm of a robot;
instructions for obtaining a state of each of one or more joints of the robotic arm of the robot, and obtaining control data of the joint by performing a quadratic programming solving on the second motion data and the state of the joint;
instructions for determining whether the quadratic programming solving is overspeed based on the obtained control data of each of the joints of the robotic arm;
instructions for determining the obtained control data of the joint of the robotic arm as not meeting the restriction condition, in response to the quadratic programming solving being overspeed;
instructions for determining whether the obtained control data of the joint of the robotic arm exceeds a preset joint limit, in response to the quadratic programming solving being not overspeed;
instructions for determining the obtained control data of the joint of the robotic arm as not meeting the restriction condition, in response to exceeding the joint limit;
instructions for determining the obtained control data of the joint of the robotic arm as meeting the restriction condition, in response to not exceeding the preset joint limit;
instructions for stopping transmitting the obtained control data of the joint of the robotic arm to the motion controller of the robot, in response to not meeting the restriction condition;
instructions for continuing transmitting the obtained control data of the joint of the robotic arm to the motion controller of the robot, in response to meeting the restriction condition; and
instructions for controlling, by a motion controller of the robot, the robotic arm of the robot to move according to the obtained control data of each of the joints of the robot by transmitting the obtained control data of the joint to the motion controller.

7. The storage medium of claim 6 , determining whether the quadratic programming solving is overspeed based on the control data of each of the joints of the robotic arm comprises:
calculating a Jacobian matrix corresponding to the control data of each of the joints of the robotic arm;
calculating a condition number based on the Jacobian matrix;
determining the quadratic programming solving as being overspeed, in response to the condition number being larger than a preset condition number threshold; and
determining the quadratic programming solving as being not overspeed, in response to the condition number being smaller than or equal to the condition number threshold.

8. The storage medium of clai

Assignees

• Ubtech Robotics Corp Ltd

Inventors

• Yan Meng
• Chen Chunyu
• Luo Xuan
• Zhang Zhihao
• Xiong Youjun

Classifications

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• G05B2219/36401

  Record play back, teach position and record it then play back · CPC title

• G05B19/423

  Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path · CPC title

• B25J9/1602

  characterised by the control system, structure, architecture · CPC title

• B25J9/1664 Primary

  characterised by motion, path, trajectory planning · CPC title