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

Claim 17:
18. The storage medium of claim 15, the instructions for calculating the target generalized coordinate vector corresponding to the to-be-executed task space vector comprise:
instructions for calculating a task vector difference vector between the to-be-executed task space vector and the actual task space vector;
instructions for calculating the null space vector corresponding to the inverse Jacobian matrix in the null space;
instructions for 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;
instructions for 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
instructions for obtaining the target generalized coordinate vector by performing vector compensation on the whole-body generalized coordinate vector according to the generalized vector compensation vector.