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

Claim 13:
14. The controller of claim 13, wherein the joint motion information includes an angular displacement and an angular velocity of each joint of the robotic arm, and the instructions for calculating actual motion information of the end-effector in a task space of the robotic arm based on the joint motion information through forward kinematics comprise:
instructions for calculating the actual position and the actual velocity of the end-effector in the task space based on the angular displacement and the angular velocity of each joint through forward kinematics;
wherein, the angular displacement q and the angular velocity {dot over (q)} of each joint of the robotic arm and the actual position x and the actual velocity {dot over (x)} of the end-effector meet equations of:

x=f(q); and

{dot over (x)}=J{dot over (q)}; 

where, f(q) represents a mapping relationship between the angular displacement q of the joint and the position x of the end-effector, and J is a Jacobian matrix.