公开(公告)号：US10894319B2

公开(公告)日：2021-01-19

申请号：US16671164

申请日：2019-10-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yongping Zeng ,  Youjun Xiong ,  Zhongliang Wang ,  Dong Liu ,  Jianxin Pang

IPC: B25J19/00 ,  B25J9/16 ,  B25J9/10 ,  G05F1/10 ,  G05B19/414

Abstract: The present disclosure is provides a servo control method as well as an apparatus and a robot using the same. The method includes: obtaining a teeth force reduction multiple of a gear of a servo; creating a voltage queue based on the teeth force reduction multiple; calculating a target loading voltage corresponding to a current moment based on a voltage queue; and applying the target loading voltage on a motor of the servo, wherein the target loading voltage is for driving the motor of the servo to rotate. Through the above-mentioned method, the loading voltage can be effectively reduced when the servo is started, thereby protecting teeth of the gear of the servo and increasing the service life of the servo.

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：US10328571B2

公开(公告)日：2019-06-25

申请号：US15321729

申请日：2016-10-28

Applicant: UBTECH Robotics Corp.

Inventor： Dong Liu ,  Youjun Xiong

IPC: G05B19/05 ,  B25J9/12 ,  G05B13/02 ,  B25J9/00 ,  B25J13/00 ,  G05B19/042

Abstract: The present invention discloses a servo control system and a robot. The servo control system is applied to a servo and includes a main control module and a communication module including a first communication port, a second communication port, a third communication port, a fourth communication port, a voltage balancing circuit and a balance voltage output terminal. The balance voltage output terminal is coupled to the third communication port and the fourth communication port through the voltage balancing circuit. The main control module sends a first communication signal to the host computer via the first communication port, and receives a second communication signal transmitted from the host computer via the second communication port. The balance voltage output terminal controls a common mode voltage difference between the first communication signal and the second communication signal via the voltage balancing circuit. In the above manner, identification numbers of servos can be reassigned. Servos can be freely reinstalled without being limited to the original positions of these servos and can still perform control instructions sent by the host computer, which is convenient for reinstalling.

公开(公告)号：US20180191278A1

公开(公告)日：2018-07-05

申请号：US15469491

申请日：2017-03-25

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Wenhua Fan ,  Xi Bai ,  Dong Liu

IPC: H02P6/16

CPC classification number: H02P7/2913 ,  H02P9/02

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.

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：US20200206914A1

公开(公告)日：2020-07-02

申请号：US16671164

申请日：2019-10-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yongping Zeng ,  Youjun Xiong ,  Zhongliang Wang ,  Dong Liu ,  Jianxin Pang

IPC: B25J9/16 ,  B25J9/10 ,  G05F1/10

Abstract: The present disclosure is provides a servo control method as well as an apparatus and a robot using the same. The method includes: obtaining a teeth force reduction multiple of a gear of a servo; creating a voltage queue based on the teeth force reduction multiple; calculating a target loading voltage corresponding to a current moment based on a voltage queue; and applying the target loading voltage on a motor of the servo, wherein the target loading voltage is for driving the motor of the servo to rotate. Through the above-mentioned method, the loading voltage can be effectively reduced when the servo is started, thereby protecting teeth of the gear of the servo and increasing the service life of the servo.

公开(公告)号：US20190160659A1

公开(公告)日：2019-05-30

申请号：US16161099

申请日：2018-10-16

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Dong Liu ,  Zhenmin Mo ,  Zhongliang Wang

IPC: B25J9/16 ,  G05B6/02 ,  B25J9/00

Abstract: The present disclosure provides a servo driving method, device, and robot thereof. The method includes: obtaining a current voltage of a power supply of the motor, if a control instruction for driving the servo is detected; obtaining a duty ratio of a PWM signal generated according to the control instruction and the current voltage, if the current voltage is not equal to a preset voltage; calculating a target duty ratio based on a ratio between the preset voltage and the current voltage and the duty ratio; and outputting a target PWM signal according to the target duty ratio. Which controls the motor to drive the servo through the obtained target PWM signal, and realizes that the rotation speed of the motor will not become unstable due to the change of the output voltage of the power supply during the operation of the motor, thereby avoiding the instability of the servo.

公开(公告)号：US10279472B2

公开(公告)日：2019-05-07

申请号：US15321727

申请日：2016-10-28

Applicant: UBTECH Robotics Corp.

Inventor： Dong Liu ,  Youjun Xiong

IPC: B25J9/00 ,  B25J9/12 ,  B25J13/00 ,  G05B19/042 ,  G05B19/414

Abstract: The present invention discloses a servo control system and a servo. A servo control system includes a main control module; and a communication module including a first communication interface, a second communication interface and a control switch unit. First communication terminal and second communication terminal of the control switch unit are correspondingly coupled to the first communication interface and the second communication interface. First enabling port and second enabling port of the control switch unit are correspondingly coupled to two enabling terminals of the main control module. The main control module receives, via the first enabling port, the first communication terminal and the first communication interface, an identification number or an identification number together with action instruction information from a servo of upper level, and transmits, via the second enabling port, the second communication terminal and the second communication interface, an identification number or an identification number together with action instruction information of a servo of lower level. In the above manner, the present invention can assign an identification number to a servo during initialization of the servo, avoiding the installing inconvenience caused by that servo identification numbers are fixed.

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：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

IPC: H02P1/00 ,  G05B13/04 ,  H02P9/02 ,  H02P7/29

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.