Anti-shake method of robot and robot thereof

Patent metadata

Field	Value
Publication number	US-10220509-B2
Application number	US-201715815583-A
Country	US
Kind code	B2
Filing date	Nov 16, 2017
Priority date	Jun 19, 2017
Publication date	Mar 5, 2019
Grant date	Mar 5, 2019

Abstract

The present disclosure relates to an anti-shake method of robot and a robot thereof. The method includes: receiving at least one motion-controlling instruction from a main control unit, determining whether a servo performs the motion-controlling instruction, obtaining a target angle and a current angle of the servo upon determining the servo is not under a control of a main control unit, determining whether the target angle and the current angle is within a fault tolerance range, terminating the servo upon determining the target angle and the current angle is within the fault tolerance range. As such, the shaking of the robot may be avoided when the robot performs actions, so as to reduce power consuming and to extend stand-by time.

First claim

What is claimed is:

1. A computer-implemented method of a robot comprising a limb and a servo of the limb, comprising:
receiving a target rotational angle of an output shaft of the servo from a main control unit of the robot, and obtaining a current rotational angle of the output shaft and a preset fault tolerance range, wherein the preset fault tolerance range is a rotational angle of the output shaft between a target start rotational angle of the output shaft to a target end rotational angle of the output shaft;
determining whether the current rotational angle is within the preset fault tolerance range;
maintaining the output shaft of the servo at the current rotational angle and determining whether the servo receives a new target rotational angle in response to the current rotational angle within the fault tolerance range; and
rotating the output shaft of the servo to the target rotational angle in response to the current rotational angle being not within the fault tolerance range.

2. The computer-implemented method according to claim 1 , wherein
the target start rotational angle is the target rotational angle minus a first rotational angle, and the target end rotational angle is obtained by summing the target rotational angle and a second rotational angle.

3. The computer-implemented method according to claim 2 , wherein the first rotational angle is equal to the second angle, and the first rotational angle and the second rotational angle are not zero degrees simultaneously.

4. A robot, comprising:
a limb comprising a servo;
a main control unit;
a processor;
a storage; and
one or more programs, wherein the one or more programs are stored in the storage and configured to be executed by the processor, the one or more programs executing a method, comprising:
receiving a target rotational angle of an output shaft of the servo from the main control unit, and obtaining a current rotational angle of the output shaft and a preset fault tolerance range, wherein the preset fault tolerance range is a rotational angle of the output shaft between a target start rotational angle of the output shaft to a target end rotational angle of the output shaft;
determining whether the current rotational angle is within the preset fault tolerance range;
maintaining the output shaft of the servo at the current rotational angle and determining whether the servo receives a new target rotational angle in response to the current rotational angle being within the fault tolerance range; and
rotating the output shaft of the servo to the target rotational angle in response to the current rotational angle being not within the fault tolerance range.

5. The robot according to claim 4 , wherein
the target start rotational angle is the target rotational angle minus a first rotational angle, and the target end rotational angle is obtained by summing the target rotational angle and a second rotational angle.

6. The robot according to claim 5 , wherein the first rotational angle is equal to the second rotational angle, and the first rotational angle and the second rotational angle are not zero degrees simultaneously.

Assignees

• Ubtech Robotics Corp

Inventors

• Xiong Youjun
• Huang Gaobo
• Xie Wenxue

Classifications

• H02P23/04

  specially adapted for damping motor oscillations, e.g. for reducing hunting · CPC title

• B25J19/00 Primary

  Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators (safety-devices in general F16P; protection against radiation in general G21F) · CPC title

• G05B2219/40354

  Singularity detection · CPC title

• G05D19/02

  characterised by the use of electric means · CPC title

• G05D3/20

  using a digital comparing device · CPC title