US 11,110,607 B2Granted

Servo output shaft rotational angle calibration method and system and robot using the same

AssigneeUbtech Robotics Corp Ltd

InventorsYoujun Xiong, Hanyu Sun, Lifu Zhang, Wenhua Fan, Zhongliang Wang, Yongping Zeng, Jianxin Pang

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Abstract

The present disclosure provides a servo output shaft angle calibration method and a robot using the same. In the method, when a servo output shaft rotational angle calibration instruction is obtained, an output shaft of a servo is controlled to move in a preset rotational direction, a current angle of the output shaft of the servo is obtained when it detects that the output shaft of the servo has rotated to an end point and has a stalling, and then a preset end point angle is updated as the current angle of the output shaft of the servo, so as to take the current angle of the output shaft of the servo as the new end point angle, thereby realizing the calibration of the end point angle of the output shaft of the servo. In this manner, the entire calibration process requires no manual intervention.

Claims20

Dependent claims

A computer-implemented angle calibration method for a servo, comprising:

providing a robot, wherein the robot comprises a plurality of joints, each of the joints is provided with at least one servo and a limit mechanism corresponding to each servo, and the limit mechanism is installed inside the joint;
obtaining a servo output shaft rotational angle calibration instruction;
controlling an output shaft of the servo to rotate in a preset rotational direction according to the servo output shaft rotational angle calibration instruction;
determining whether the output shaft of the servo has rotated to an end point and has a stalling;
obtaining a current angle of the output shaft of the servo in response to the output shaft of the servo having rotated to the end point and having the stalling;
and
calibrating a preset end point angle of the output shaft of the servo by using the current angle of the output shaft of the servo as the preset end point angle, wherein the preset end point angle refers to a maximum angle that the output shaft of the servo can be rotated after the servo is powered on:
wherein the step of determining whether the output shaft of servo has rotated to the end point and has the stalling comprises:
detecting whether the output shaft of the servo has rotated to a position of the limit mechanism corresponding to the servo;
and
determining the output shaft of the servo having rotated to the end point and having the stalling in response to the output shaft of the servo having rotated to the position of the limit mechanism corresponding to the servo.

8 more elements

A robot, comprising:

a memory;
a processor;
at least one servo;
a plurality of joints, wherein each of the joints is provided with the at least one servo and a limit mechanism corresponding to each servo, and the limit mechanism is installed inside the joint;
and
one or more computer programs stored in the memory and executable on the processor, comprising:
instructions for obtaining a servo output shaft rotational angle calibration instruction;
instructions for controlling an output shaft of the servo to rotate in a preset rotational direction according to the servo output shaft rotational angle calibration instruction;
instructions for determining whether the output shaft of the servo has rotated to an end point and has a stalling;
instructions for obtaining a current angle of the output shaft of the servo in response to the output shaft of the servo having rotated to the end point and having the stalling;
and
instructions for calibrating a preset end point angle of the output shaft of the servo by using the current angle of the output shaft of the servo as the preset end point angle, wherein the preset end point angle refers to a maximum angle that the output shaft of the servo can be rotated after the servo is powered on;
wherein the instructions for determining whether the output shaft of servo has rotated to the end point and has the stalling comprise:
instructions for detecting whether the output shaft of the servo has rotated to a position of the limit mechanism corresponding to the servo;
and
instructions for determining the output shaft of the servo having rotated to the end point and having the stalling in response to the output shaft of the servo having rotated to the position of the limit mechanism corresponding to the servo.

13 more elements

Dependencies are inferred from the claim text.