公开(公告)号：US10564631B2

公开(公告)日：2020-02-18

申请号：US16140546

申请日：2018-09-25

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Lifu Zhang ,  Mingzhao Li ,  Zhenmin Mo

IPC: G05B19/25 ,  G05B19/416 ,  G05B19/19 ,  G05B21/02

Abstract: A servo movement control method, device, and terminal device are provided. The method includes: controlling an output shaft of the servo to rotate according to a first motion instruction; detecting whether a second motion instruction is received within a first preset time period, and re-planning a second target motion curve to a second target end position from a corresponding target position on a first target motion curve when receiving the second motion instruction; and controlling the output shaft to rotate from an actual position when receiving the second motion instruction to the second target end position according to the second target motion curve. When the second motion instruction is received, the servo is controlled to rotate from the target position to the second target end position according to the second motion instruction, so that the servo is switched from the first motion instruction to the second motion instruction smoothly.

公开(公告)号：US20190121328A1

公开(公告)日：2019-04-25

申请号：US16140546

申请日：2018-09-25

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Lifu Zhang ,  Mingzhao Li ,  Zhenmin Mo

IPC: G05B19/416 ,  G05B19/19 ,  G05B21/02

Abstract: A servo movement control method, device, and terminal device are provided. The method includes: controlling an output shaft of the servo to rotate according to a first motion instruction; detecting whether a second motion instruction is received within a first preset time period, and re-planning a second ideal motion curve to a second ideal end position from a corresponding ideal position on a first ideal motion curve when receiving the second motion instruction; and controlling the output shaft to rotate from an actual position when receiving the second motion instruction to the second ideal end position according to the second ideal motion curve. When the second motion instruction is received, the servo is controlled to rotate from the ideal position to the second ideal end position according to the second motion instruction, so that the servo is switched from the first motion instruction to the second motion instruction smoothly.