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

Claim 0:
1. A computer-implemented impedance control method for a robotic arm, comprising steps of:
obtaining current joint motion information and current joint force information in a joint space of the robotic arm and an actual interaction force acting on an end-effector of the robotic arm, and 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;
calculating a corrected desired trajectory of the end-effector using current environment information and a pre-planned desired end-effector interaction force in the task space, and 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 desired end-effector information including the corrected desired trajectory;
constructing a dynamics equation of the robotic arm, and determining a compensation torque based on a nonlinear term in the dynamics equation; and
performing a joint torque control on the robotic arm based on the impedance control torque and the compensation torque.