公开(公告)号：US10211766B2

公开(公告)日：2019-02-19

申请号：US15591059

申请日：2017-05-09

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Xi Bai ,  Wenhua Fan ,  Lifu Zhang

IPC: G01D5/12 ,  H02P7/00 ,  H02P6/20

Abstract: The present disclosure relates to a multi-turn angle controlling method based on an absolute position encoder, including: obtaining a target angle according to a starting position and a target position, and obtaining number of times N that the target angle passes a predetermined position, determining whether an absolute value of the target angle being greater than 360 degrees, conducting a first operation mode upon determining that the absolute value of the target angle being greater than 360 degrees, incrementing M by one when the operation angle passes the predetermined position until M equals to N, M is a positive integer and an initial value of M is zero, and conducting a second operation mode when M equals to N, N is a positive integer greater than 1.

公开(公告)号：US10031506B2

公开(公告)日：2018-07-24

申请号：US15409490

申请日：2017-01-18

Applicant: UBTECH Robotics Corp.

Inventor： Wenhua Fan ,  Lifu Zhang ,  Xi Bai ,  Youjun Xiong

IPC: G05B19/18 ,  G05B19/19 ,  G05B19/416

CPC classification number: G05B19/19 ,  G05B19/416 ,  G05B2219/37313 ,  G05B2219/37323 ,  G05B2219/41223 ,  G05B2219/41436 ,  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 correlation 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.

公开(公告)号：US20180188707A1

公开(公告)日：2018-07-05

申请号：US15640581

申请日：2017-07-03

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Lifu Zhang ,  Xi Bai ,  Wenhua Fan

IPC: G05B19/402

CPC classification number: G05B19/402 ,  G05B19/23 ,  G05B2219/34013 ,  G05B2219/37589

Abstract: The present disclosure relates to a critical point locking method of servos, including: computing a current target deviation according to a target position and an actual position, computing a variation value according to the current target deviation and a previous target deviation, determining whether the variation value being greater than a constraint value, modifying the current target deviation according to the current target deviation and a predetermined value upon determining the predetermined condition being satisfied, configuring the modified current target deviation as a current controlling deviation, and driving the servo to move toward the target position according the current controlling deviation. As such, the servo may lock the position for 360 degrees, the locking stroke of the servo may be improved, and the application of the servo may be enlarged.

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.