Method, device, and terminal device for servo movement smoothing

A servo movement smoothing device for a servo of a robot, comprising:

• an obtaining module configured to obtain a starting position and a control command for a rotation of an output shaft of the servo;
• a determining module configured to determine an ending position and a rotation time for the rotation of the output shaft of the servo in accordance with the control command;
• a movement curve constructing module configured to construct a movement curve of the output shaft of the servo based on the starting position, the ending position, and the rotation time, wherein a horizontal coordinate of the movement curve represents time, a vertical coordinate of the movement curve represents a position, and the movement curve includes a linear function of a sine function or a cosine function;
• and
• a movement control module configured to control the output shaft of the servo to rotate from the starting position to the ending position in accordance with the movement curve.

A terminal device for a servo of a robot, comprising a non-transitory memory, one or more processors, and one or more computer programs, wherein the one or more computer programs are stored in the non-transitory memory and configured to be executed by the one or more processors, the one or more programs comprise:

• instructions for obtaining a starting position and a control command for a rotation of an output shaft of the servo;
• instructions for determining an ending position and a rotation time for the rotation of the output shaft of the servo in accordance with the control command;
• instructions for constructing a movement curve of the output shaft of the servo based on the starting position, the ending position, and the rotation time, wherein a horizontal coordinate of the movement curve represents time, a vertical coordinate of the movement curve represents a position, and the movement curve includes a linear function of a sine function or a cosine function;
• and
• instructions for controlling the output shaft of the servo to rotate from the starting position to the ending position in accordance with the movement curve.