Patent ID: 11872701
Assignee: UBTECH ROBOTICS CORP LTD
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 9:
10. The humanoid robot of claim 9, wherein the instructions for calculating the Jacobian matrix of the centroid of the k-th link according to joint positions, centroid positions, and rotation matrices of k links relative to the origin of the world coordinate system comprise:
instructions for creating the Jacobian matrix Jcom{k}0 of the centroid of the k-th link, where Jcom{k}0=[J1 . . . Ji . . . Jk];
calculating a direction vector corresponding to an i-th joint of the humanoid robot based on the rotation matrix of each of the first i links with respect to the origin of the world coordinate system, and calculating the i-th column Ji of the Jacobian matrix Jcom{k}0 according to a motion type of the i-th joint based on the direction vector, the joint position, and the centroid position through an equation of:, J
   i
  
  =
  
   {
   
    
     
      
       
        [
        
         
          
           
            
             z
             i
            
            ×
            
             (
             
              
               p
               
                com
                ⁢
                
                 {
                 k
                 }
                
               
               0
              
              -
              
               p
               i
               0
              
             
            
           
          
         
         
          
           
            z
            i
           
          
         
        
        ]
       
       ,
       
        
         if
         ⁢
            
         the
         ⁢
            
         i
         -
         th
         ⁢
            
         joint
         ⁢
            
         is
         ⁢
            
         the
         ⁢
            
         revolute
         ⁢
            
         joint
        
        ;
        and
       
      
     
    
    
     
      
       
        [
        
         
          
           
            z
            i
           
          
         
         
          
           0
          
         
        
        ]
       
       ,
       
        
         if
         ⁢
            
         the
         ⁢
            
         i
         -
         th
         ⁢
            
         joint
         ⁢
            
         is
         ⁢
            
         the
         ⁢
            
         prismatic
         ⁢
            
         joint
        
        ;
       
      
     
    
   
  
 

where, zi is the direction vector corresponding to the i-th joint, pcom{k}0 is the centroid position of the k-th link in the world coordinate system, and pi0 is the joint position of the i-th link in the world coordinate system.