Patent ID: 11938635
Assignee: UBTECH ROBOTICS CORP LTD
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 13:
14. The motion controller of claim 8, wherein the second motion velocity vector is calculated using an equation of:, [
    
     
      
       
        
         
          
           foot
          
         
         
          
           tool
          
         
        
        ⁢
        v
       
      
     
     
      
       
        
         
          
           foot
          
         
         
          
           tool
          
         
        
        ⁢
        w
       
      
     
    
    ]
   
   =
   
    
     [
     
      
       
        
         
          
           
            foot
           
          
          
           
            base
           
          
         
         ⁢
         R
        
       
       
        0
       
      
      
       
        0
       
       
        
         
          
           
            foot
           
          
          
           
            base
           
          
         
         ⁢
         R
        
       
      
     
     ]
    
    ⁢
    
     
      
       base
      
     
     
      
       tool
      
     
    
    ⁢
    
     J
     ⁡
     (
     q
     )
    
    ⁢
    
     q
     .
    
   
  
  ;
 

where, toolfootv represent the linear velocity of the end of the robotic arm relative to the feet, toolfootw represents the angular velocity of the end of the robotic arm relative to the feet, basefootR represents the rotation matrix of the robotic am base relative to the feet, and toolbaseJ(q)q is obtained by performing derivation on the pose expression vector of the end of the robotic relative to the robotic arm base.