Patent ID: 11858141
Assignee: UBTECH ROBOTICS CORP LTD
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 18:
19. The robot of claim 15, wherein the actual motion information includes a current actual position and a current actual speed of the end-effector, and the desired end-effector information includes a current desired speed and a current desired acceleration of the end-effector and the corrected desired trajectory, and the instructions for calculating the impedance control torque of the robotic arm in the joint space based on the joint force information, the actual interaction force, the actual motion information of the end-effector, and the desired end-effector information including the corrected desired trajectory comprise:
instructions for calculating a damping control quantity in the task space based on a positional deviation between the corrected desired trajectory and the actual position, a speed deviation between the desired speed and the actual speed, and the actual interaction force using a spring-mass-damping model;
instructions for converting the joint force information from the joint space into the task space, and calculating an acceleration control quantity in the task space based on the damping control quantity, the desired acceleration, and the converted joint force information; and
instructions for calculating the impedance control torque of the robotic arm in the joint space based on the acceleration control quantity in the task space using a Jacobian matrix.