公开(公告)号：US11059173B2

公开(公告)日：2021-07-13

申请号：US16236518

申请日：2018-12-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Jianxin Pang ,  Lifu Zhang ,  Wenhua Fan ,  Dong Liu

IPC: B25J9/16

Abstract: The present disclosure provides a robot joint motion control method and apparatus as well as a robot using the same. The method includes: obtaining coordinates of a plurality of key points of a motion of a joint of the robot based on a preset linear control model; determining coordinates of two smooth connecting points respectively before and after each key point based on a preset time connecting factor; calculating a joint motion trajectory between each two adjacent smooth connecting points using a preset parabola connecting formula, based on the coordinates of the two smooth connecting points and the corresponding key point; and controlling the joint of the robot to move according to the joint motion trajectory between each two adjacent smooth connecting points. The present disclosure can avoid the joints of a robot from overshooting, thereby enhancing the user experience.

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：US10379510B2

公开(公告)日：2019-08-13

申请号：US15394824

申请日：2016-12-30

Applicant: UBTECH Robotics Corp.

Inventor： Tingshuang Huang ,  Lifu Zhang ,  Youjun Xiong

IPC: G05B19/04 ,  G05B19/042

Abstract: The present disclosure discloses a command control in a multi-servo feedback control system. The command control includes: a servo acquiring preset delay time when a first action command is received from a main controller via serial data bus; the servo sending feedback information to the main controller after the preset delay time; wherein the preset delay time of the plurality of servos are different from each other, and the feedback information is configured to identify work status of the servo; receiving a second action command from the main controller; performing actions corresponding to the second action command and sending the feedback information to the main controller after the preset delay time if the second action command is valid. A servo and a multi-servo feedback control system for performing the command control are also provided.

公开(公告)号：US10317874B2

公开(公告)日：2019-06-11

申请号：US15640581

申请日：2017-07-03

Applicant: UBTECH Robotics Corp.

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

IPC: G05B19/23 ,  G05B19/402

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：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.

公开(公告)号：US10209093B2

公开(公告)日：2019-02-19

申请号：US15473610

申请日：2017-03-30

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Lifu Zhang ,  Wenhua Fan ,  Zhongliang Wang

IPC: G01M13/02 ,  G01D5/02 ,  G05B19/4065

Abstract: A device sod a method for measuring servo gear idle position are provided. The method includes: outputting a start-up fixed force of a first rotation direction to an output shall of a servo under test, and recording a value of a start-up position of the output shaft when a position of a rotor of the servo under test changes for the first time; outputting a counterrotation force of a second rotation direction for rotating the output shaft to the output shaft, and recording a value of an counterrotation position of the output shaft when the rotor is in a stop status after a predetermined interval; and calculating a value of a servo gear idle position in a current measuring point, the value of the idle position is the absolute value of the difference between the value of the start-up position and the value of the counterrotation position.

公开(公告)号：US20200206936A1

公开(公告)日：2020-07-02

申请号：US16535108

申请日：2019-08-08

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： YOUJUN XIONG ,  Hanyu Sun ,  Lifu Zhang ,  Wenhua Fan ,  Zhongliang Wang ,  Yongping Zeng ,  Jianxin Pang

IPC: B25J9/16

Abstract: The present disclosure provides a servo output shaft angle calibration method and a robot using the same. In the method, when a servo output shaft rotational angle calibration instruction is obtained, an output shaft of a servo is controlled to move in a preset rotational direction, a current angle of the output shaft of the servo is obtained when it detects that the output shaft of the servo has rotated to an end point and has a stalling, and then a preset end point angle is updated as the current angle of the output shaft of the servo, so as to take the current angle of the output shaft of the servo as the new end point angle, thereby realizing the calibration of the end point angle of the output shaft of the servo. In this manner, the entire calibration process requires no manual intervention.

公开(公告)号：US20200206922A1

公开(公告)日：2020-07-02

申请号：US16236518

申请日：2018-12-30

Applicant: UBTECH Robotics Corp

Inventor： YOUJUN XIONG ,  Jianxin Pang ,  Lifu Zhang ,  Wenhua Fan ,  Dong Liu

IPC: B25J9/16

Abstract: The present disclosure provides a robot joint motion control method and apparatus as well as a robot using the same. The method includes: obtaining coordinates of a plurality of key points of a motion of a joint of the robot based on a preset linear control model; determining coordinates of two smooth connecting points respectively before and after each key point based on a preset time connecting factor; calculating a joint motion trajectory between each two adjacent smooth connecting points using a preset parabola connecting formula, based on the coordinates of the two smooth connecting points and the corresponding key point; and controlling the joint of the robot to move according to the joint motion trajectory between each two adjacent smooth connecting points. The present disclosure can avoid the joints of a robot from overshooting, thereby enhancing the user experience.

公开(公告)号：US10685672B2

公开(公告)日：2020-06-16

申请号：US16163589

申请日：2018-10-18

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Lifu Zhang ,  Wenhua Fan ,  Malin Wang

IPC: G11B5/584 ,  G11B5/55

Abstract: The present disclosure provides a linearity detecting method and apparatus for a servo position sensor, and a robot with the same. The method includes: collecting and saving an output angle of the servo under test; analyzing the output angle to obtain a relationship curve of angle and time of the servo under test to rotate for one turn; extracting angle information of a starting point to an ending point of the output angle corresponding to the position sensor in the servo under test based on the relationship curve of angle and time to obtain valid angle data; and determining whether the output angle corresponding to the position sensor is linear based on the valid angle data. The present disclosure can solve the problem that an external sensor and a fixture are required when detecting the linearity of the sensor which causes complicated operation, high detection cost, and low detection efficiency.