A method of controlling a robot includes: obtaining an inertia matrix and a slack variable of the robot, and determining a momentum equation of the robot according to the inertia matrix and the slack variable; obtaining reference joint angles corresponding to a reference action of the robot; determining an optimization objective function of the momentum equation according to a first preset weight coefficient of the slack variable and a second preset weight coefficient of the reference joint angles; and determining joint angles of the robot according to the optimization objective function, and driving the robot to move according to the joint angles of the robot.


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    Title :

    ROBOT CONTROL METHOD, ROBOT AND COMPUTER-READABLE STORAGE MEDIUM


    Contributors:
    CHEN CHUNYU (author) / GE LIGANG (author) / LIU YIZHANG (author) / ZHOU JIANGCHEN (author) / LUO QIUYUE (author) / XIONG YOUJUN (author)

    Publication date :

    2023-06-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

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



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