公开(公告)号：US10967500B2

公开(公告)日：2021-04-06

申请号：US16212634

申请日：2018-12-06

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Rixin Shen

IPC: B25J9/00 ,  B25J9/16 ,  B25J13/08 ,  B25J19/02 ,  B62D57/032

Abstract: The present disclosure provides a motion control method and apparatus and a robot with the same. The method includes: obtaining a first rotational angle P1 of an output shaft of the servo currently at and a first time T1 for the output shaft of the servo to perform one rotation; obtaining a second rotational angle P2 for the output shaft of the servo to reach and a second time T2 for the output shaft of the servo to rotate from the first rotational angle P1 to the second rotational angle P2; calculating a motion curve B(t) of the output shaft of the servo based on the first rotational angle P1, the second rotational angle P2, the first time T1, and the second time T2; and controlling the servo to rotate according to the motion curve B(t). The present disclosure solves the instability in the gravity center of the robot.

公开(公告)号：US20190202049A1

公开(公告)日：2019-07-04

申请号：US16212634

申请日：2018-12-06

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Rixin Shen

IPC: B25J9/00 ,  B25J9/16 ,  B25J19/02 ,  B25J13/08

CPC classification number: B25J9/0006 ,  B25J9/0009 ,  B25J9/1633 ,  B25J13/085 ,  B25J13/088 ,  B25J19/02 ,  B62D57/032

Abstract: The present disclosure provides a motion control method and apparatus and a robot with the same. The method includes: obtaining a first rotational angle P1 of an output shaft of the servo currently at and a first time T1 for the output shaft of the servo to perform one rotation; obtaining a second rotational angle P2 for the output shaft of the servo to reach and a second time T2 for the output shaft of the servo to rotate from the first rotational angle P1 to the second rotational angle P2; calculating a motion curve B(t) of the output shaft of the servo based on the first rotational angle P1, the second rotational angle P2, the first time T1, and the second time T2; and controlling the servo to rotate according to the motion curve B(t). The present disclosure solves the instability in the gravity center of the robot.