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Control response method and device for steering engine and steering engine

A technology of response device and steering gear, applied in the field of robotics, can solve the problems of reducing the performance of the steering gear and not adapting to the actual use scene of the steering gear, etc., and achieve the effect of improving the control response, running smoothly, and improving the applicability.

Active Publication Date: 2019-04-30
UBTECH ROBOTICS CORP LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of this, the embodiment of the present invention provides a control response method, device and steering gear of the steering gear, so as to solve the actual use scenario where the control response method of the existing steering gear is not suitable for the command response of the steering gear, which will reduce the steering gear. Problems with performance

Method used

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  • Control response method and device for steering engine and steering engine
  • Control response method and device for steering engine and steering engine
  • Control response method and device for steering engine and steering engine

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Embodiment 3

[0050] As mentioned above, obtaining the instruction control parameters corresponding to the action instructions, and determining multiple working periods corresponding to the instruction control parameters, such as image 3 As shown, it can be further optimized as another embodiment three of the present invention, and the realization of the scheme is as follows:

[0051] In S301, obtain the first command control parameter, the second command control parameter and the third command control parameter corresponding to the action command, and determine the control parameter corresponding to the first command, the second command control parameter and the The above-mentioned third instruction control parameters respectively have a corresponding relationship between the starting working period, the running working period and the stopping working period.

[0052] In common practical application projects, the working period of the steering gear can be divided into three sections. Aft...

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Abstract

The invention, which is applicable to the technical field of robots, provides a control response method and device for a steering engine and a steering engine. The method comprises: acquiring an action instruction issued by a main control unit; acquiring an instruction control parameter of a steering engine corresponding to the action instruction and determining a plurality of working periods having a correspondence relationship with the instruction control parameter; acquiring current running time of the steering engine; and determining the working periods in which the running time is locatedand performing the response to the action instruction based on the instruction control parameter corresponding to the working period. With the control response method and device and the steering engine, the steering engine can meet the motion needs at different working periods of robot joints, thereby guaranteeing the fast response at starting time, stable running, and shaking and overshooting prevention at stopping time effectively; and thus the adaptability and response control effect of the steering engine in actual items are enhanced.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a control response method and device of a steering gear and a steering gear. Background technique [0002] The robot has many joints all over its body. To make the robot move like a human, in addition to writing a program to plan its path, it also needs to control the joints. The typical control device is the steering gear. The steering gear was first used in model airplanes to control the direction, but due to its small size, light weight, large torque, and high precision, it was gradually applied to robots as the connecting part of each joint to complete the positioning and movement of each joint. [0003] In the traditional control response method in the field of steering gear, in order to make the control process easier, the same control response method is usually used to control the steering gear throughout the entire movement of the robot, that is, the response rate of the ste...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42B25J17/00B25J9/16
CPCG05B11/42B25J9/16B25J17/00
Inventor 熊友军张礼富莫振敏李明昭
Owner UBTECH ROBOTICS CORP LTD
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