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公开(公告)号：US20190186954A1
公开(公告)日：2019-06-20
申请号：US16141987
申请日：2018-09-26
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Wenhua Fan , Yongping Zeng , Sheng Zhou
IPC: G01D5/12
Abstract: The present disclosure relates to servo technology, and particularly to a method and a device for detecting rotation angle of a multi-turn servo, and a multi-turn servo. The method includes: driving a multi-turn servo to be at a zero-point position; obtaining an accurate angle and a number of rotation when the multi-turn servo is at the zero-point position; detecting a current angle of the multi-turn servo in a real-time manner; incrementing the number of rotation by one in response to a zero-point forward jump between a current angle and a previous angle; decrementing the number of rotation by one in response to a zero-point backward jump between the current angle and the previous angle; and determining a current rotation angle of the multi-turn servo in accordance with an accurate angle, a current angle, and the number of rotation stored on the storage.
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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.
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23.发明申请公开(公告)号：US20190163209A1
公开(公告)日：2019-05-30
申请号：US16161093
申请日：2018-10-16
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Wenhua Fan , Hanyu Sun , Zhongliang Wang
Abstract: The present disclosure relates to a method, a terminal device, and a computer readable storage medium for controlling rotation of a servo. The method includes: acquiring a loading mass and a rotation radius of the servo from a sensor electrically connected with the servo or by an externally input; calculating an angular acceleration threshold of the servo according to an angular acceleration formula, a rated torque, the loading mass, and the rotation radius of the servo; setting an angular acceleration of the servo according to the angular acceleration threshold; and rotating the servo according to the angular acceleration.
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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.
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公开(公告)号：US10942502B2
公开(公告)日：2021-03-09
申请号：US16581791
申请日：2019-09-25
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Xi Bai , Wenhua Fan , Malin Wang , Jianxin Pang
IPC: G05B19/23 , G05B19/4062
Abstract: The present disclosure provides a control method for an electronically controlled servo mechanism as well as an apparatus and a robot thereof. The method is for an electronically controlled servo mechanism including a servo having a PI controller, which includes: obtaining related parameter(s) of the PI controller before tuning, where the related parameters includes a proportional coefficient and an integral coefficient; obtaining a current rotational angle of an output shaft of the servo, and calculating an angular deviation between the obtained current rotational angle and an expected rotational angle of an output shaft of the servo; and tuning the related parameter(s) of the PI controller based on the proportional coefficient, the integral coefficient, and the angular deviation. In such a manner, the parameter(s) of the PI controller are tuned to make it equivalent to a P controller, thereby avoiding the large oscillation caused by external interference.
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Patent Agency Ranking
26.发明申请公开(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.
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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.
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28.发明授权公开(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
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.
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公开(公告)号：US10451647B2
公开(公告)日：2019-10-22
申请号：US15455062
申请日：2017-03-09
Applicant: UBTECH Robotics Corp.
Inventor： Youjun Xiong , Wenhua Fan , Lifu Zhang , Jianyun Xiao
Abstract: A method for measuring speed of a permanent magnet synchronous motor includes: acquiring a number K of pulse signals received in a current measuring period and outputted by an incremental encoder; acquiring a first duration Sn-1 between a time point when a pulse is last received in a previous measuring period and a time point when the previous measuring period ends, and a second duration Sn between a time point when a pulse is last received in the current measuring period and a time point when the current measuring period ends; calculating a third duration T0, measured between the time point when the pulse is last received in the previous measuring period and the time point when the pulse is last received in the current measuring period, according to the length T of the current, measuring period, the first duration Sn-1 and the second duration Sn; and calculating a motor speed v according to formula: v = K K 0 × 1 T 0 .
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公开(公告)号：US10211768B2
公开(公告)日：2019-02-19
申请号：US15469491
申请日：2017-03-25
Applicant: UBTECH Robotics Corp.
Inventor： Youjun Xiong , Wenhua Fan , Xi Bai , Dong Liu
Abstract: A control method of direct current (DC) machine includes the following steps: obtaining a target speed n, detecting a current speed nk, calculating a current rotating speed difference ek, calculating a speed base voltage W according to the current speed nk, calculating a PID adjustment voltage V according to the current rotating speed difference ek, calculating an output voltage U according to the PID adjustment voltage V and the speed base voltage W, and driving the DC machine according to the output voltage U.
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