Servo Motion Control Reducing Impact Forces
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Solution Overview
Problem
Existing servo motion control methods for consumer or entertainment robots result in severe impacts during starting and stopping, leading to instability and stiffness, negatively affecting the robot's performance and user experience.
Innovation Solution
A servo motion control method and apparatus that involves obtaining position parameters of control vertices, creating a smooth trajectory equation, and controlling the servo to move based on this equation, thereby reducing impacts during high-speed motion and enhancing stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If constant speed motion mode is used for servo control, then the robot structure can be simple and cost can be reduced, but severe impacts occur during starting and stopping causing instability and stiffness
Solution Approach 1:
The patent applies parameter changes by modifying the motion profile parameters - transitioning from constant speed motion to accelerated motion with specifically designed acceleration and deceleration phases. The servo control method implements a motion curve where acceleration and deceleration rates are carefully controlled to reduce impact forces, while maintaining the simplified robot structure and low cost characteristics. This resolves the contradiction by changing the motion parameters rather than the overall system architecture.
2Productivity
If constant high-speed motion is used, then productivity is improved, but severe impacts during starting and stopping cause stiffness and affect user experience
Solution Approach 1:
The patent applies dynamics by implementing a dynamic motion profile that adapts acceleration and deceleration rates during the motion cycle. Instead of rigid constant speed motion, the servo controller dynamically adjusts speed according to a pre-planned motion curve that includes accelerated start-up and decelerated stopping phases. This maintains high productivity through efficient motion while dynamically reducing impacts at critical transition points, thereby improving operational smoothness.
Solution Approach 2:
The patent applies beforehand cushioning by pre-planning the acceleration and deceleration phases in the motion profile before actual motion occurs. The controller prepares the servo motor to gradually increase speed from zero with controlled acceleration, and similarly controls deceleration before stopping. This preemptive approach cushions the impacts that would otherwise occur during sudden starts and stops, maintaining both productivity and smooth operation.
3Device complexity
If simplified servo control is used for low-cost robots, then device complexity is reduced, but motion smoothness deteriorates causing rigid and stiff robot movements
Solution Approach 1:
The patent applies mechanics substitution by replacing complex mechanical cushioning mechanisms with a software-based servo control algorithm. Instead of adding physical components like shock absorbers or complex gear systems to reduce impacts, the invention uses a programmable motion profile that mathematically controls acceleration and deceleration. This substituting control software for mechanical complexity achieves smooth motion while keeping the overall device simple and low-cost.
Data Source
AI summary
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.