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REDUNDANT ROBOTIC ARM CONTROL METHOD, REDUNDANT ROBOTIC ARM CONTROLLER, AND COMPUTER READABLE STORAGE MEDIUM
REDUNDANT ROBOTIC ARM CONTROL METHOD, REDUNDANT ROBOTIC ARM CONTROLLER, AND COMPUTER READABLE STORAGE MEDIUM
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机译:冗余机械臂控制方法,冗余机械臂控制器和计算机可读存储介质
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摘要
The present disclosure provides a redundant robotic arm control method, a redundant robotic arm, and a computer readable storage medium. The method includes: obtaining an external force acting on an end of the robotic arm and an external torque acting on each joint; calculating a first joint speed of each joint based on a degree of influence of the joint on the end in each motion dimension and the external force acting on the end; determining a zero space speed of each joint corresponding to a current position of the end based on a link torque of an external force acting on a link with respect to the joint; calculating a total joint speed based on the first joint speed and the zero space speed; and controlling the robotic arm to the move according to the total joint speed.
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