Position control method for servo, computer readable storage medium, and robot

A robot comprising:

• a servo;
• one or more processors;
• a storage;
• and
• one or more computer programs stored in the storage and configured to be executed by the one or more processors, and the one or more computer programs being configured to execute a method, the method comprising steps of:
• receiving, from a control terminal, a motion control command that comprises a motion planning parameter about position of an output shaft of the servo;
• acquiring speed information or time information indicated by the motion planning parameter, and determining a constant parameter control duration according to the speed information or time information;
• determining a control parameter corresponding to a constant parameter control stage according to the constant parameter control duration and a preset constant parameter, the constant parameter control stage being a first stage in execution of the motion control command;
• performing a transient adjustment to the servo when the constant parameter control stage ends, and changing the control parameter to an adaptive operation parameter when the transient adjustment ends;
• and
• controlling a rotation angle of the output shaft of the servo by a control algorithm to perform a position control of the servo, based on duration values and control parameters corresponding to each of a plurality of control stages;
• wherein the control stages comprise the constant parameter control stage, a transition stage, and an adaptive parameter control stage, and the transition stage and the adaptive parameter control stage are a second stage and a third stage in the execution of the motion control command.

A non-transitory computer readable storage medium having stored therein instructions, which when executed by a robot, cause the robot to:

• receive, from a control terminal, a motion control command that comprises a motion planning parameter about position of an output shaft of the servo;
• acquire speed information or time information indicated by the motion planning parameter, and determine a constant parameter control duration according to the speed information or time information;
• determine a control parameter corresponding to a constant parameter control stage according to the constant parameter control duration and a preset constant parameter, the constant parameter control stage being a first stage in execution of the motion control command;
• perform a transient adjustment to the servo when the constant parameter control stage ends, and change the control parameter to an adaptive operation parameter when the transient adjustment ends;
• and
• control a rotation angle of the output shaft of the servo by a control algorithm to perform a position control of the servo, based on duration values and control parameters corresponding to each of a plurality of control stages;
• wherein the control stages comprise the constant parameter control stage, a transition stage, and an adaptive parameter control stage, and the transition stage and the adaptive parameter control stage are a second stage and a third stage in the execution of the motion control command.