Verfahren und Vorrichtung zur Steuerung eines Roboterarms sowie Vorrichtung, Speichermedium und Programmprodukt

Details

Veröffentlichungs-Nr.

EP4751859

Anmeldetag

23. September 2024

Veröffentlichung

10. April 2025

Rechtsraum

EP

IPC

B25J9/16

Abstract

A method for controlling a robotic arm, relating to the technical fields of robots and automatic control. The method comprises: acquiring historical-data pairs at N moments, wherein each historical-data pair comprises historical input data and historical output data, the historical input data is used for controlling a robotic arm (220) to move, such that a first object (210) is kept in a balanced state on the robotic arm (220), and the historical output data is used for representing a pose of the robotic arm (220) and a pose of the first object (210) after the robotic arm (220) is controlled, on the basis of the historical input data, to move, N being a positive integer; on the basis of the historical-data pairs at the N moments, determining predicted input data of the robotic arm (220); and on the basis of the predicted input data, controlling the robotic arm (220) to move, wherein the first object (210) maintains balance during the motion of the robotic arm (220). The prediction of a future system state of the robotic arm (220) is performed on the basis of historical data, and does not only rely on feedback variables of a robotic arm system, so that a control response is faster. Further provided are a robotic arm control apparatus, and a device and a storage medium.

Anmelder

Firma

Tencent Technology (Shenzhen) Company Limited

Land

🇨🇳 China