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：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.