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

Claim 4:
5. The method of claim 1, wherein the current environment information includes a current environment equivalent stiffness and a current environment position, and the calculating the corrected desired trajectory of the end-effector using current environment information and the pre-planned desired end-effector interaction force in the task space comprises:
calculating the corrected desired trajectory of the end-effector based on the current environment equivalent stiffness, the current environment position and the desired end-effector interaction force using an equation of:, x
      ref
      m
    
    =
    
      
        x
        f
      
      -
      
        
          F
          ref
        
        
          K
          eq
        
      
    
  
  ;

where, xrefm represents the corrected desired trajectory, x∫ represents the environmental position, Keq represents the environment equivalent stiffness, and Fref represents the desired end-effector interaction force.