Patent ID: 11951628
Assignee: NATIONAL YANG MING CHIAO TUNG UNIVERSITY
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 7:
8. The robot controlling method of claim 7, further comprising:
adding and converting, by the processing circuit, the attractive force parameter and the repulsive force parameter into a speed command, wherein the speed command is used to control the robot to drive the tool to move;
converting, by the processing circuit, the virtual torque into an angular velocity command, wherein the angular velocity command is used to control the robot to drive the tool to rotate;
converting, by the processing circuit, a limitation parameter into a limitation command, wherein the limitation parameter is associated with a third vector between a critical control point of the robot and the obstacle parameter, and the limitation parameter is configured to limit a speed of the critical control point of the robot; and
obtaining the control signal according to the speed command, the angular velocity command and the limitation command.