公开(公告)号：US20190198048A1

公开(公告)日：2019-06-27

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 m 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.

公开(公告)号：US20190196453A1

公开(公告)日：2019-06-27

申请号：US16140549

申请日：2018-09-25

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Lifu Zhang ,  Dong Liu ,  Hanyu Sun

IPC: G05B19/4103 ,  G05B19/408 ,  G05B19/416

CPC classification number: G05B19/4103 ,  G05B19/4086 ,  G05B19/4163 ,  G05B2219/42128 ,  G05B2219/42173 ,  G05B2219/42207 ,  G05B2219/43006

Abstract: The present disclosure relates to servo control technology, which provides a method, device, and terminal device for servo movement smoothing. The method includes: obtaining a starting position and a control command for a rotation of an output shaft the servo; determining an ending position and a rotation time for the rotation of the output shaft in accordance with the control command; constructing a movement curve of the output shaft based on the starting position, the ending position, and the rotation time; and controlling the output shaft to rotate from the starting position to the ending position in accordance with the movement curve. The above-mentioned method smooths the movement of the servo by constructing a simple linear function, which greatly reduces the calculation amount in comparison with the technical solution using the cubic Bessel formula, and is capable of reducing the requirements for the hardware performance of servos.

公开(公告)号：US20180188282A1

公开(公告)日：2018-07-05

申请号：US15455062

申请日：2017-03-09

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Wenhua Fan ,  Lifu Zhang ,  Jianyun Xiao

IPC: G01P3/481

CPC classification number: G01P3/481 ,  G01D5/243

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 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：US20180188074A1

公开(公告)日：2018-07-05

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

CPC classification number: H02P7/00 ,  H02P6/20 ,  H02P2203/03

Abstract: The present disclosure relates to a multi-turns angle controlling method basing on magnetic coding, 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 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 diode when M equals to N, N is a positive integer greater than 1.

公开(公告)号：US20180052435A1

公开(公告)日：2018-02-22

申请号：US15394824

申请日：2016-12-30

Applicant: UBTECH Robotics Corp.

Inventor： TINGSHUANG HUANG ,  Lifu Zhang ,  Youjun Xiong

IPC: G05B19/042

CPC classification number: G05B19/0426 ,  G05B19/0423 ,  G05B2219/34013

Abstract: A communication method of a servo control system includes: a servo acquiring a 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 according to the preset delay time; wherein each servo corresponds to a different preset delay time, and the feedback information is configured to identify work status of the servo. A servo and a servo control system for performing the communication method are also provided.