公开(公告)号：US20200164511A1

公开(公告)日：2020-05-28

申请号：US16236521

申请日：2018-12-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Lifu Zhang ,  Hanyu Sun ,  Xi Bai ,  Jianxin Pang

IPC: B25J9/16 ,  B25J9/00

Abstract: The present disclosure provides a servo motion control method and apparatus, as well as a robot using the same. The method includes: obtaining position parameters of a plurality of control vertices of a servo in a constant speed motion; creating a first smooth trajectory equation of the servo to move from the starting point to the ending point based on the position parameters of the plurality of control vertices; and controlling the servo to move based on the first smooth trajectory equation. The present disclosure is capable of realizing the smooth control of the motion of the servo from a starting position to an ending position, and avoiding the severe impacts during starting and stopping which affect the stability of the servo while the servo is in a constant high-speed motion.

公开(公告)号：US20210333082A1

公开(公告)日：2021-10-28

申请号：US16626519

申请日：2018-12-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xi Bai ,  Wenhua Fan ,  Malin Wang ,  Youjun Xiong

IPC: G01B5/24 ,  H02P21/18 ,  G05B19/416

Abstract: The present invention provides a rotation angle detection method and device thereof. The method includes calculating an estimated value of a rotation angle of a motor shaft during rotation according to a second rotation angle; determining an actual range of the rotation angle according to the estimated value of the rotation angle and a detection error of the second angle sensor; determining optional values of the rotation angle based on a relative relationship between a first rotation angle and the estimated value; determining an actual rotation angle of the motor shaft, based on a value falling within the actual range of the rotation angle among the optional values, and determining an actual rotation angle of the output shaft according to the actual rotation angle of the motor shaft. The present invention can improve the measurement accuracy of the rotation angles of the output shaft of the rotating mechanism.

公开(公告)号：US10882184B2

公开(公告)日：2021-01-05

申请号：US16236521

申请日：2018-12-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Lifu Zhang ,  Hanyu Sun ,  Xi Bai ,  Jianxin Pang

IPC: G05B19/19 ,  B25J9/16 ,  B25J9/00

Abstract: The present disclosure provides a servo motion control method and apparatus, as well as a robot using the same. The method includes: obtaining position parameters of a plurality of control vertices of a servo in a constant speed motion; creating a first smooth trajectory equation of the servo to move from the starting point to the ending point based on the position parameters of the plurality of control vertices; and controlling the servo to move based on the first smooth trajectory equation. The present disclosure is capable of realizing the smooth control of the motion of the servo from a starting position to an ending position, and avoiding the severe impacts during starting and stopping which affect the stability of the servo while the servo is in a constant high-speed motion.

公开(公告)号：US11346648B2

公开(公告)日：2022-05-31

申请号：US16626519

申请日：2018-12-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xi Bai ,  Wenhua Fan ,  Malin Wang ,  Youjun Xiong

IPC: G01B5/24 ,  H02P21/18 ,  G05B19/416

Abstract: The present invention provides a rotation angle detection method and device thereof. The method includes calculating an estimated value of a rotation angle of a motor shaft during rotation according to a second rotation angle; determining an actual range of the rotation angle according to the estimated value of the rotation angle and a detection error of the second angle sensor; determining optional values of the rotation angle based on a relative relationship between a first rotation angle and the estimated value; determining an actual rotation angle of the motor shaft, based on a value falling within the actual range of the rotation angle among the optional values, and determining an actual rotation angle of the output shaft according to the actual rotation angle of the motor shaft. The present invention can improve the measurement accuracy of the rotation angles of the output shaft of the rotating mechanism.

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.

公开(公告)号：US11080404B2

公开(公告)日：2021-08-03

申请号：US16576807

申请日：2019-09-20

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Malin Wang ,  Youjun Xiong ,  Xi Bai ,  Wenhua Fan ,  Sheng Zhou ,  Jianxin Pang

IPC: G06F8/654 ,  G06F9/4401 ,  G06F21/57 ,  G06F13/40 ,  G06F8/65

Abstract: A firmware upgrade method for a slave station of a robot communicates with a master station of the robot via an EtherCAT bus of the robot, includes: switching a work mode of the slave station to an upgrade mode in response to a firmware upgrade instruction, receiving a new firmware corresponding to this firmware upgrade via the EtherCAT bus, storing the new firmware in a second storage area of a flash memory of the slave station, restarting the slave station after the new firmware is received, and copying the new firmware stored in the second storage area to a first storage area of the flash memory and executing the new firmware in the first storage area when the slave station is started. A slave station of the robot and a machine readable storage medium are also provided.

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：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：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.

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.