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

IPC: B25J9/16 ,  G05B13/02

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.

公开(公告)号：US20180073894A1

公开(公告)日：2018-03-15

申请号：US15397730

申请日：2017-01-04

Applicant: UBTECH Robotics Corp.

Inventor： Zhenmin Mo ,  Tingshuang Huang ,  Youjun Xiong

IPC: G01D5/00 ,  H02K11/21

CPC classification number: G01D5/00 ,  G01D5/24476 ,  H02K11/21

Abstract: An angle detection method includes collecting as original sample of an object angle, determining whether the original sample jumps, smoothing the original sample and outputting a smoothed original sample as a pre-processed sample. The method further includes determining whether a transition period of the original sample passes, updating the original sample during the transition period to the pre-processed sample, filtering the pre-processed sample, and outputting a non-interference detection value.

公开(公告)号：US10744643B2

公开(公告)日：2020-08-18

申请号：US15960571

申请日：2018-04-24

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Lifu Zhang ,  Wenhua Fan ,  Zhenmin Mo

IPC: B25J9/16 ,  G05B13/02 ,  B25J9/12

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.

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：US20190160659A1

公开(公告)日：2019-05-30

申请号：US16161099

申请日：2018-10-16

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Dong Liu ,  Zhenmin Mo ,  Zhongliang Wang

IPC: B25J9/16 ,  G05B6/02 ,  B25J9/00

Abstract: The present disclosure provides a servo driving method, device, and robot thereof. The method includes: obtaining a current voltage of a power supply of the motor, if a control instruction for driving the servo is detected; obtaining a duty ratio of a PWM signal generated according to the control instruction and the current voltage, if the current voltage is not equal to a preset voltage; calculating a target duty ratio based on a ratio between the preset voltage and the current voltage and the duty ratio; and outputting a target PWM signal according to the target duty ratio. Which controls the motor to drive the servo through the obtained target PWM signal, and realizes that the rotation speed of the motor will not become unstable due to the change of the output voltage of the power supply during the operation of the motor, thereby avoiding the instability of the servo.

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.