The present disclosure is provides a servo control method as well as an apparatus and a robot using the same. The method includes: obtaining a teeth force reduction multiple of a gear of a servo; creating a voltage queue based on the teeth force reduction multiple; calculating a target loading voltage corresponding to a current moment based on a voltage queue; and 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. Through the above-mentioned method, the loading voltage can be effectively reduced when the servo is started, thereby protecting teeth of the gear of the servo and increasing the service life of the servo.

The present disclosure is provides a servo control method as well as an apparatus and a robot using the same. The method includes: obtaining a teeth force reduction multiple of a gear of a servo; creating a voltage queue based on the teeth force reduction multiple; calculating a target loading voltage corresponding to a current moment based on a voltage queue; and 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. Through the above-mentioned method, the loading voltage can be effectively reduced when the servo is started, thereby protecting teeth of the gear of the servo and increasing the service life of the servo.

An abnormality determination device includes: an oscillating signal sending unit configured to send out an oscillating signal which causes a rotary shaft of a servomotor to rotate and swing in a predetermined pattern, to a motor control unit configured to control the servomotor; a measuring unit configured to measure a physical quantity representing the state of the servomotor when the rotary shaft of the servomotor is swung; a comparing unit configured to compare a measurement signal of the measured physical quantity with a reference signal; and an abnormality determination unit configured to determine occurrence of an abnormality in a drive system which includes the servomotor and the motor control unit and ranges from a driven object to be driven by the servomotor to the motor control unit, based on comparison result from the comparing unit.

An abnormality determination device includes: an oscillating signal sending unit configured to send out an oscillating signal which causes a rotary shaft of a servomotor to rotate and swing in a predetermined pattern, to a motor control unit configured to control the servomotor; a measuring unit configured to measure a physical quantity representing the state of the servomotor when the rotary shaft of the servomotor is swung; a comparing unit configured to compare a measurement signal of the measured physical quantity with a reference signal; and an abnormality determination unit configured to determine occurrence of an abnormality in a drive system which includes the servomotor and the motor control unit and ranges from a driven object to be driven by the servomotor to the motor control unit, based on comparison result from the comparing unit.