公开(公告)号：US20200206935A1

公开(公告)日：2020-07-02

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

IPC: B25J9/16 ,  B25J19/02

Abstract: The present disclosure provides a servo calibration method as well as an apparatus and a robot using the same. 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. Through the present disclosure, the problem in the prior art that the process of the calibration is cumbersome can be solved.

公开(公告)号：US11110607B2

公开(公告)日：2021-09-07

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 ,  B25J9/12

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：US10727821B2

公开(公告)日：2020-07-28

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: H03K3/00 ,  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：US11185983B2

公开(公告)日：2021-11-30

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 ,  H02P29/00 ,  H02P23/00

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：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：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

IPC: B25J19/02 ,  B25J9/16

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.