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

Claim 1:
2. The method of claim 1, wherein the calculating the inverse Jacobian matrix of the whole-body generalized coordinate vector relative to the actual task space vector based on the waist posture vector and the robotic arm posture vector comprises:
calculating a first motion velocity vector of a waist part of the humanoid robot in a preset coordinate system of the humanoid robot at the current moment based on the waist posture vector, wherein the first motion velocity vector includes a linear velocity and an angular velocity of the waist in the preset coordinate system, wherein the preset coordinate system has a center point between two feet of the humanoid robot touching a plane as an origin;
determining a pose expression vector of a robotic arm end of the humanoid robot relative to a robotic arm base of the humanoid robot at the current moment based on the robotic arm posture vector;
obtaining a rotation matrix of the robotic arm base in the preset coordinate system at the current moment;
calculating a second motion velocity vector of the robotic arm end in the preset coordinate system at the current moment, wherein the second motion velocity vector includes a linear velocity and an angular velocity of the robotic arm end in the preset coordinate system;
obtaining a corresponding to-be-processed velocity vector by performing a speed superposition processing on the first motion speed vector and the second motion speed vector;
calculating a forward Jacobian matrix of the whole-body generalized coordinate vector relative to the actual task space vector based on the to-be-processed velocity vector and the whole-body generalized coordinate vector; and
obtaining the corresponding inverse Jacobian matrix by performing singular value decomposition on the calculated forward Jacobian matrix.