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公开(公告)号：US20200206935A1
公开(公告)日：2020-07-02
申请号：US16508335
申请日：2019-07-11
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： YOUJUN XIONG , Hanyu Sun , Wenhua Fan , Lifu Zhang , Zhongliang Wang , Jianxin Pang
Abstract: The present disclosure provides a servo calibration method as well as an apparatus and a robot using the same. The method includes: obtaining data of a position sensor on a motor shaft of the servo; obtaining data of a position sensor on an output shaft of the servo; determining whether a clutch protection has been performed on the servo based on data of the position sensor on the motor shaft and data of the position sensor on the output shaft; and calibrating a position of the motor shaft based on the data of the position sensor on the output shaft, if the clutch protection has been performed on the servo. Through the present disclosure, the problem in the prior art that the process of the calibration is cumbersome can be solved.
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公开(公告)号：US20200164511A1
公开(公告)日：2020-05-28
申请号：US16236521
申请日：2018-12-30
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Lifu Zhang , Hanyu Sun , Xi Bai , Jianxin Pang
Abstract: The present disclosure provides a servo motion control method and apparatus, as well as a robot using the same. The method includes: obtaining position parameters of a plurality of control vertices of a servo in a constant speed motion; creating a first smooth trajectory equation of the servo to move from the starting point to the ending point based on the position parameters of the plurality of control vertices; and controlling the servo to move based on the first smooth trajectory equation. The present disclosure is capable of realizing the smooth control of the motion of the servo from a starting position to an ending position, and avoiding the severe impacts during starting and stopping which affect the stability of the servo while the servo is in a constant high-speed motion.
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公开(公告)号：US10031514B2
公开(公告)日：2018-07-24
申请号：US15373486
申请日：2016-12-09
Applicant: UBTECH Robotics Corp.
Inventor： Lifu Zhang , Tingshuang Huang , Youjun Xiong
IPC: G05B11/01 , G05B19/414
Abstract: A method for servo locking control is provided. A servo enters a first lock state, and determines whether the current angular deflection values of the servo in a first preset period are all greater than a preset angular deflection value. When the current angular deflection values of the servo in the first preset period are all greater than the preset angular deflection value, the servo enters a second lock state, and determines whether the current angular changing values of the servo in a second preset period are all less than a preset angular changing value. When the current angular changing values of the servo in the second preset period are all less than the preset angular changing value, the servo enters the first lock state. A servo for performing the method for servo locking control is also provided.
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公开(公告)号：US20180188136A1
公开(公告)日：2018-07-05
申请号：US15641228
申请日：2017-07-04
Applicant: UBTECH Robotics Corp.
Inventor： HONGBO ZHU , Lifu Zhang , Youjun Xiong
Abstract: The present disclosure is an apparatus for testing an idle position of a servo, including: driving mechanism, a transmission unit transmitting torque of a driving servo to a testing servo, and a control circuit electrically connecting to the driving servo and the testing servo to acquire idle position information. The apparatus drives the output shaft of the testing servo to rotate by an external driving mechanism, and measures an amount of rotation of the output shaft by an internal sensor of the testing servo. Therefore, an external sensor may not be provided, and a problem of precision installation of the external sensor can be avoided. Further, a problem caused by poorly install the external sensor and the output shaft can also be avoided, and accuracy of a testing result can be increased.
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5.发明授权公开(公告)号：US11110607B2
公开(公告)日：2021-09-07
申请号：US16535108
申请日：2019-08-08
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Hanyu Sun , Lifu Zhang , Wenhua Fan , Zhongliang Wang , Yongping Zeng , Jianxin Pang
Abstract: The present disclosure provides a servo output shaft angle calibration method and a robot using the same. In the method, when a servo output shaft rotational angle calibration instruction is obtained, an output shaft of a servo is controlled to move in a preset rotational direction, a current angle of the output shaft of the servo is obtained when it detects that the output shaft of the servo has rotated to an end point and has a stalling, and then a preset end point angle is updated as the current angle of the output shaft of the servo, so as to take the current angle of the output shaft of the servo as the new end point angle, thereby realizing the calibration of the end point angle of the output shaft of the servo. In this manner, the entire calibration process requires no manual intervention.
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Patent Agency Ranking
公开(公告)号：US10882184B2
公开(公告)日：2021-01-05
申请号：US16236521
申请日：2018-12-30
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Lifu Zhang , Hanyu Sun , Xi Bai , Jianxin Pang
Abstract: The present disclosure provides a servo motion control method and apparatus, as well as a robot using the same. The method includes: obtaining position parameters of a plurality of control vertices of a servo in a constant speed motion; creating a first smooth trajectory equation of the servo to move from the starting point to the ending point based on the position parameters of the plurality of control vertices; and controlling the servo to move based on the first smooth trajectory equation. The present disclosure is capable of realizing the smooth control of the motion of the servo from a starting position to an ending position, and avoiding the severe impacts during starting and stopping which affect the stability of the servo while the servo is in a constant high-speed motion.
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公开(公告)号：US10727821B2
公开(公告)日：2020-07-28
申请号：US16509515
申请日：2019-07-12
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Lifu Zhang , Wenhua Fan , Hanyu Sun
IPC: H03K3/00 , H03K3/3565 , H03K5/24
Abstract: The present disclosure provides a transmission hysteresis detecting method and apparatus. The method includes: transmitting a forward rotational instruction and a reverse rotational instruction to a motor of the servo; storing motor end positions of the motor and output shaft end positions of an output shaft corresponding to the motor in a forward rotational cycle and a reverse rotational cycle, respectively; generating first position data based on the motor end positions and the corresponding output shaft end positions in the forward rotational cycle; generating second position data based on the motor end positions and the corresponding output shaft end positions in the reverse rotational cycle; and calculating a transmission hysteresis of the servo based on the first position data and the second position data. The technical solutions of the present disclosure only needs to obtain the position data of one forward rotational cycle and one reverse rotational cycle.
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公开(公告)号：US20190160669A1
公开(公告)日：2019-05-30
申请号：US15960571
申请日：2018-04-24
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Lifu Zhang , Wenhua Fan , Zhenmin Mo
Abstract: The present disclosure provides a robot servo jitter suppression method and device. The method includes: counting an amount of reciprocating jitter of an angular position of an output shaft of a robot servo in a predetermined period, after the robot servo enters a lock position state for a first predetermined period; determining whether the robot servo is in a jitter state according to the amount of the reciprocating jitter of the angular position of the output shaft of the robot servo and a predetermined fluctuation value; and suppressing the jitter of the robot servo by adjusting control parameter(s) of the robot servo, in response to the robot servo being in the jitter state. The robot servo jitter suppression method and device solve the problem of the jitter of the robot servo appears when the virtual positions of the robot servo and the robot joint structure are not properly controlled.
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公开(公告)号：US20180011478A1
公开(公告)日：2018-01-11
申请号：US15373486
申请日：2016-12-09
Applicant: UBTECH Robotics Corp.
Inventor： Lifu Zhang , Tingshuang Huang , Youjun Xiong
IPC: G05B19/414
CPC classification number: G05B19/414 , G05B2219/34013
Abstract: A method for servo locking control is provided. A servo enters a first lock state, and determines whether the current angular deflection values of the servo in a first preset period are all greater than a preset angular deflection value. When the current angular deflection values of the servo in the first preset period are all greater than the preset angular deflection value, the servo enters a second lock state, and determines whether the current angular changing values of the servo in a second preset period are all less than a preset angular changing value. When the current angular changing values of the servo in the second preset period are all less than the preset angular changing value, the servo enters the first lock state. A servo for performing the method for servo locking control is also provided.
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公开(公告)号：US11185983B2
公开(公告)日：2021-11-30
申请号：US16713012
申请日：2019-12-13
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Lifu Zhang , Wenhua Fan , Hanyu Sun , Youjun Xiong , Jianxin Pang
Abstract: A position control method for a servo, includes: receiving, from a control terminal, a motion control command that comprises a motion planning parameter about position of an output shaft of the servo; acquiring speed information or time information indicated by the motion planning parameter, and determining a constant parameter control duration according to the speed information or time information; determining a control parameter corresponding to a constant parameter control stage according to the constant parameter control duration and a preset constant parameter; performing a transient adjustment to the servo when the constant parameter control stage ends, and changing the control parameter to an adaptive operation parameter when the transient adjustment ends; and controlling a rotation angle of the output shaft of the servo to perform a position control of the servo, based on duration values and control parameters corresponding to each of a plurality of control stages.
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