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

Claim 3:
4. The method of claim 1, the calculating the target generalized coordinate vector corresponding to the to-be-executed task space vector by combining the actual task space vector and the to-be-executed task space vector into the null space of the inverse Jacobian matrix according to the one or more preset position constraints corresponding to the whole-body generalized coordinate vector comprises:
calculating a task vector difference vector between the to-be-executed task space vector and the actual task space vector;
calculating the null space vector corresponding to the inverse Jacobian matrix in the null space;
comparing each vector element in the whole-body generalized coordinate vector with a preset upper limit and a preset lower limit of a corresponding vector element in the one or more preset position constraints to obtain a plurality of comparison results, and generating a matching limit correction vector for the whole-body generalized coordinate vector according to all the obtained comparison results;
calculating a generalized vector compensation vector of the humanoid robot for the to-be-executed task space vector based on the inverse Jacobian matrix, the null space vector, the task vector difference vector, and the limit correction vector; and
obtaining the target generalized coordinate vector by performing vector compensation on the whole-body generalized coordinate vector according to the generalized vector compensation vector.