US 11,059,170 B2 · Joint limit detection method, and robot with the same

Abstract

The present disclosure provides a joint limit detection method, apparatus, and robot with the same. The method includes: (a) determining a servo corresponding to a joint to be detected; (b) controlling an output shaft of the servo to rotate in a preset first direction; (c) measuring a rotational angle of the output shaft within a preset first duration; (d) determining whether the rotational angle of the output shaft is greater than a preset angle threshold; (e) repealing the steps (c) and (d) until the rotational angle of the output shaft is less than or equal to the preset angle threshold, if the rotational angle of the output shaft is greater than the angle threshold; and (f) determining a current rotational position of the output shaft as a first extreme position, if the rotational angle of the output shall is less than or equal to the angle threshold.

Claims17

Dependent claims

A computer-implemented joint limit detection method for a robot having a plurality of joints each having a servo, comprising executing on a processor of a joint limit detection apparatus the steps of:

(a) determining a servo corresponding to a joint to be detected;
(b) controlling an output shaft of the servo to rotate in a preset first direction;
(c) measuring a rotational angle of the output shaft of the servo within a preset first duration;
(d) determining whether the rotational angle of the output shaft of the servo is greater than a preset angle threshold;
(e) repeating the steps (c) and (d) until the rotational angle of the output shaft of the servo is less than or equal to the preset angle threshold, in response to the rotational angle being greater than the angle threshold;
and
(f) determining a current rotational position of the output shaft of the servo as a first extreme position, in response to the rotational angle of the output shaft of the servo being less than or equal to the angle threshold.

4 more elements

A robot, comprising:

a plurality of joints each having 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 executing step (a) of determining a servo corresponding to a joint to be detected;
instructions for executing step (b) of controlling an output shaft of the servo to rotate in a preset first direction:,
instructions for executing step (c) of measuring a rotational angle of the output shalt of the servo within a preset first duration;
instructions for executing step (c) of determining whether the rotational angle of the output shaft of the servo is greater than a preset angle threshold;
instructions for executing step (e) of repeating the instructions for executing steps (c) and (d) until the rotational angle of the output shaft or the servo is less than or equal to the preset angle threshold, in response to the rotational angle of the output shaft of the servo being greater than the angle threshold;
and
instructions for executing step (f) of determining a current rotational position of the output shaft of the servo as a first extreme position, in response to the rotational angle of the output shall of the servo being less than or equal to the angle threshold.

9 more elements

Dependencies are inferred from the claim text.

Joint limit detection method, and robot with the same

Life of this patent

Joint limit detection method, and robot with the same

Life of this patent

Abstract

Claims17