公开(公告)号：US20180164772A1

公开(公告)日：2018-06-14

申请号：US15409490

申请日：2017-01-18

Applicant: UBTECH Robotics Corp.

Inventor： WENHUA FAN ,  Lifu Zhang ,  Xi Bai ,  Youjun Xiong

IPC: G05B19/19 ,  G05B19/416

CPC classification number: G05B19/19 ,  G05B19/416 ,  G05B2219/41223 ,  G05B2219/43147

Abstract: A motion control method includes: (a) obtaining a current position and a current velocity of a control object at a current time; (b) obtaining a current acceleration based on the current position and the current velocity, wherein the current acceleration has a positive eon-elation With a difference between the current position and a target position as well as a negative correlation with the current velocity; (c) controlling a motor for driving the control object utilizing the current acceleration; and (d) iteratively performing the steps (a)-(c) until the control object reaches the target position. A motion trajectory planning method and a motion control device are further provided. Through the above-mentioned way, the present disclosure could realize the smooth acceleration and smooth deceleration of the motor. As a result, smooth motion trajectory, less vibration, and stable motor with less overshoot could be achieved.