Servo movement control method, device, and terminal device

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

• a first motion unit configured to control an output shaft of the servo to rotate according to a first motion instruction, wherein the first motion instruction is configured to control the output shaft of the servo to rotate from an actual position when receiving the first motion instruction to a first ideal end position according to a first ideal motion curve;
• a detection unit configured to detect whether a second motion instruction is received within a first preset time period, and re-plan a second ideal motion curve to a second ideal end position from a corresponding ideal position on the first ideal motion curve when receiving the second motion instruction in response to receiving the second motion instruction;
• and
• a second motion unit configured to control the output shaft of the servo to rotate from an actual position when receiving the second motion instruction to the second ideal end position according to the second ideal motion curve.

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

• instructions for controlling an output shaft of the servo to rotate according to a first motion instruction, wherein the first motion instruction is configured to control the output shaft of the servo to rotate from an actual position when receiving the first motion instruction to a first ideal end position according to a first ideal motion curve;
• instructions for detecting whether a second motion instruction is received within a first preset time period, and re-planning a second ideal motion curve to a second ideal end position from a corresponding ideal position on the first ideal motion curve when receiving the second motion instruction in response to receiving the second motion instruction;
• and
• instructions for controlling the output shaft of the servo to rotate from an actual position when receiving the second motion instruction to the second ideal end position according to the second ideal motion curve.