Servo motion control method and apparatus and robot using the same

A motion control apparatus for a servo of a robot, comprising:

• a control vertex obtaining unit configured to obtain position parameters of a plurality of control vertices of the servo in a constant speed motion, wherein the plurality of control vertices comprise a starting point and an ending point of the servo in the constant speed motion or preset fixed points of the servo in the constant speed motion;
• a smooth trajectory equation creating unit configured to create 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 of the servo in the constant speed motion;
• and
• a servo motion controlling unit configured to control the servo to move based on the first smooth trajectory equation.

A robot, comprising:

• a servo;
• a memory;
• a processor;
• and
• one or more non-transitory computer programs stored in the memory and executable on the processor, wherein the one or more non-transitory computer programs comprise:
• instructions for obtaining position parameters of a plurality of control vertices of the servo in a constant speed motion, wherein the plurality of control vertices comprise a starting point and an ending point of the servo in the constant speed motion or preset fixed points of the servo in the constant speed motion;
• instructions for 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 of the servo in the constant speed motion;
• and
• instructions for controlling the servo to move based on the first smooth trajectory equation.