Abstract: A robot control method, a robot, and a computer-readable storage medium are provided. The method includes: obtaining a trajectory planning parameter of joint(s) of the robot, force data of an end of the robot, and force data of the joint(s); obtaining an end admittance compensation amount; determining a first joint parameter and a first slack variable corresponding to the end admittance compensation amount in a joint space of each of the joint(s) based on the end admittance compensation amount and the trajectory planning parameter, obtaining a joint admittance compensation amount; determining a second joint parameter based on the first joint parameter, the first slack variable, the joint admittance compensation amount, and the trajectory planning parameter; determining a target joint commanding position based on the second joint parameter; and controlling the robot to move according to the target joint commanding position.

Abstract: A joint acceleration planning method, a redundant robot using the same, and a computer readable storage medium are provided.

Abstract: The invention relates to a three-phase boost rectifier circuit and a control, method thereof, and an uninterrupted power supply which contains at least first battery packs BAT+, second battery packs BAT?, and a boost rectifier module; the boost rectifier module comprises a first bidirectional thyristor SCR1, a second bidirectional thyristor SCR2, a third bidirectional thyristor SCR3, a fourth bidirectional thyristor SCR6, a first unidirectional thyristor SCR4, a second unidirectional thyristor SCR5, a first inductor L1, a second inductor L2, a third inductor L3, a three-phase fully controlled rectifier bridge, a first capacitor C1 and a second capacitor C2. The invention can ensure the balance of positive and negative bus's voltage without the balancing device under battery operated boost mode, while improving the efficiency and reliability of the battery operated boost mode.

Abstract: The invention relates to a three-phase boost rectifier circuit and a control method thereof, and an uninterrupted power supply, which contains at least first battery packs BAT+, second battery packs BAT?, and a boost rectifier module; the boost rectifier module comprises a first bidirectional thyristor SCR1, a second bidirectional thyristor SCR2, a third bidirectional thyristor SCR3, a fourth bidirectional thyristor SCR6, a first unidirectional thyristor SCR4, a second unidirectional thyristor SCR5, a first inductor L1, a second inductor L2, a third inductor L3, a three-phase fully controlled rectifier bridge, a first capacitor C1 and a second capacitor C2. The invention can ensure the balance of positive and negative bus's voltage without the balancing device under battery operated boost mode, while improving the efficiency and reliability of the battery operated boost mode.