The invention discloses a balance control method of a robot, the robot and a storage medium. The balance control method of the robot comprises the steps that the position of the initial mass center of the robot is obtained; when a load is added to the robot, the position of the current mass center of the robot and the mass center offset between the current mass center and the initial mass center are obtained through calculation; and according to the current position of the centroid and the centroid offset, the driving module drives the counterweight module to move so as to compensate the centroid offset. Thus, the mass center adjusting assembly is arranged on the robot, when a load is added to the robot, the balance weight module can be controlled to move according to the mass center deviation amount so as to compensate the mass center deviation amount, and the problems that the robot moves slowly or is not stable after the load is added are effectively avoided.

    本申请公开了一种机器人的平衡控制方法、机器人和存储介质。机器人的平衡控制方法包括:获取机器人的初始质心的位置;在机器人上附加有载荷时,计算得到机器人的当前质心的位置以及当前质心与初始质心之间的质心偏移量;和根据当前质心的位置和质心偏移量通过驱动模块驱动配重模块运动以对质心偏移量进行补偿。如此,如此,在机器人上设置有质心调整组件,在机器人上附加有载荷时,可根据质心偏离量来控制配重模块进行移动从而对质心偏移量进行补偿,有效避免由于附加载荷后造成机器人行动迟缓或者不稳等问题。


    Access

    Download


    Export, share and cite



    Title :

    Balance control method of robot, robot and storage medium


    Additional title:

    机器人的平衡控制方法、机器人和存储介质


    Contributors:
    LI ZHILIN (author)

    Publication date :

    2023-08-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



    ROBOT BALANCE CONTROL METHOD, COMPUTER-READABLE STORAGE MEDIUM AND ROBOT

    CHEN CHUNYU / LIU YIZHANG / GE LIGANG et al. | European Patent Office | 2021

    Free access

    Robot balance control method, computer-readable storage medium and robot

    CHEN CHUNYU / LIU YIZHANG / GE LIGANG et al. | European Patent Office | 2023

    Free access

    ROBOT BALANCE CONTROL METHOD, ROBOT CONTROLLER AND COMPUTER READABLE STORAGE MEDIUM

    XIE YAN / XIONG YOUJUN | European Patent Office | 2022

    Free access

    Robot balance control method, robot controller and computer readable storage medium

    XIE YAN / XIONG YOUJUN | European Patent Office | 2024

    Free access

    Control method and device for robot riding balance car, storage medium and robot

    ZHANG JINGFAN / LI LU / GE LIGANG et al. | European Patent Office | 2024

    Free access