-
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 .
-
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
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：US20180188073A1
公开(公告)日：2018-07-05
申请号：US15473610
申请日：2017-03-30
Applicant: UBTECH Robotics Corp.
Inventor： YOUJUN XIONG , Lifu Zhang , Wenhua Fan , Zhongliang Wang
CPC classification number: G01D5/02 , G05B19/4065 , G05B2219/42328
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.
-
Patent Agency Ranking
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.
-
公开(公告)号：US11230012B2
公开(公告)日：2022-01-25
申请号：US16508335
申请日：2019-07-11
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Hanyu Sun , Wenhua Fan , Lifu Zhang , Zhongliang Wang , Jianxin Pang
Abstract: A servo calibration method as well as an apparatus and a robot using the same are provided. The method includes: obtaining data of a position sensor on a motor shaft of the servo; obtaining data of a position sensor on an output shaft of the servo; determining whether a clutch protection has been performed on the servo based on data of the position sensor on the motor shaft and data of the position sensor on the output shaft; and calibrating a position of the motor shaft based on the data of the position sensor on the output shaft, if the clutch protection has been performed on the servo. Hence, the problem in the prior art that the process of the calibration is cumbersome can be solved.
-
公开(公告)号：US20210046647A1
公开(公告)日：2021-02-18
申请号：US16713012
申请日：2019-12-13
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Lifu Zhang , Wenhua Fan , Hanyu Sun , Youjun Xiong , Jianxin Pang
IPC: B25J9/16
Abstract: A position control method for a servo, includes: receiving, from a control terminal, a motion control command that comprises a motion planning parameter about position of an output shaft of the servo; acquiring speed information or time information indicated by the motion planning parameter, and determining a constant parameter control duration according to the speed information or time information; determining a control parameter corresponding to a constant parameter control stage according to the constant parameter control duration and a preset constant parameter; performing a transient adjustment to the servo when the constant parameter control stage ends, and changing the control parameter to an adaptive operation parameter when the transient adjustment ends; and controlling a rotation angle of the output shaft of the servo to perform a position control of the servo, based on duration values and control parameters corresponding to each of a plurality of control stages.
-
公开(公告)号：US20200212897A1
公开(公告)日：2020-07-02
申请号：US16509515
申请日：2019-07-12
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Lifu Zhang , Wenhua Fan , Hanyu Sun
IPC: H03K3/3565 , H03K5/24
Abstract: The present disclosure provides a transmission hysteresis detecting method and apparatus. The method includes: transmitting a forward rotational instruction and a reverse rotational instruction to a motor of the servo; storing motor end positions of the motor and output shaft end positions of an output shaft corresponding to the motor in a forward rotational cycle and a reverse rotational cycle, respectively; generating first position data based on the motor end positions and the corresponding output shaft end positions in the forward rotational cycle; generating second position data based on the motor end positions and the corresponding output shaft end positions in the reverse rotational cycle; and calculating a transmission hysteresis of the servo based on the first position data and the second position data. The technical solutions of the present disclosure only needs to obtain the position data of one forward rotational cycle and one reverse rotational cycle.
-
公开(公告)号：US20200206929A1
公开(公告)日：2020-07-02
申请号：US16727956
申请日：2019-12-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun XIONG , Hanyu Sun , Lifu Zhang , Wenhua Fan , Zhongliang Wang , Jianxin Pang
IPC: B25J9/16
Abstract: The present disclosure provides duplicate servo ID detection methods and a servo for a robot. One of the method includes: transmitting, by the main controller, a query instruction including a specific servo ID to at least two of the servos of the robot through a bus; differentiating feedback information replied by at least two of the servos corresponding to the specific servo ID; and determining, by the main controller, there being at least two of the servos with the same servo ID, if the feedback information not meeting a predetermined verification rule is received. Through the technical solution provided by this embodiment, the detection of duplicate servo ID can be realized, and the servos on the bus that have the same servo ID can be found so us to remind the user of the robot, thereby guaranteeing the normal operation of the robot.
-
-
-
-
-
-
-
-
-
Search Results
35
records
(took 0.017 seconds)
