Servo control method and apparatus and robot using the same

A control apparatus for a servo of a robot, comprising;

• an obtaining unit configured to obtain a teeth force reduction multiple of a gear of the servo;
• a creation unit configured to create a voltage queue based on the teeth force reduction multiple;
• a calculation unit configured to calculate a target loading voltage corresponding to a current moment based on the voltage queue;
• and
• a control unit configured to apply the target loading voltage on a motor of the servo, wherein the target loading voltage is for driving the motor of the servo to rotate.

A robot, comprising;

• at least a servo;
• a memory;
• a processor;
• and
• one or more computer programs stored in the memory and executable on the processor, wherein the one or more computer programs comprise:
• instructions for obtaining a teeth force reduction multiple of a gear of the servo;
• instructions for creating a voltage queue based on the teeth force reduction multiple;
• instructions for calculating a target loading voltage corresponding to a current moment based on the voltage queue;
• and
• instructions for applying the target loading voltage on a motor of the servo, wherein the target loading voltage is for driving the motor of the servo to rotate.