Servo calibration method and apparatus and robot using the same

A calibration apparatus for a servo, comprising:

• a first obtaining module configured to obtain data of a position sensor on a motor shaft of the servo, wherein the servo is used as a joint of a robot so as to realize a movement of a limb of the robot which is connected to the joint, and the servo comprises:
• the position sensor on the motor shaft, a motor, a gear reducer, a clutch protection mechanism for an output shaft, and a position sensor on the output shaft, and wherein the position sensor on the motor shaft is for detecting a rotational angle of the motor shaft, the position sensor on the output shaft is for detecting a rotational angle of the output shaft, and the gear reducer realizes a deceleration of the motor shaft to the output shaft;
• a second obtaining module configured to obtain data of the position sensor on the output shaft of the servo;
• a clutch determining module configured to determine whether a clutch protection has been performed on the servo based on data of the position sensor on the motor shaft and data of the position sensor on the output shaft;
• and
• a position calibrating module configured to calibrate a position of the motor shaft based on the data of the position sensor on the output shaft, in response to the clutch protection having been performed on the servo.

A robot comprising:

• at least a servo, wherein the servo is used as a joint of the robot so as to realize a movement of a limb of the robot which is connected to the joint, and the servo comprises:
• the position sensor on the motor shaft, a motor, a gear reducer, a clutch protection mechanism for an output shaft, and a position sensor on the output shaft, and wherein the position sensor on the motor shaft is for detecting a rotational anele of the motor shaft, the position sensor on the output shaft is for detecting a rotational angle of the output shaft, and the gear reducer realizes a deceleration of the motor shaft to the output shaft;
• 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 obtaining data of a position sensor on the motor shaft of the servo;
• instructions for obtaining data of a position sensor on the output shaft of the servo;
• instructions for determining whether a clutch protection has been performed on the servo based on data of the position sensor on the motor shaft and data of the position sensor on the output shaft;
• and
• instructions for calibrating a position of the motor shaft based on the data of the position sensor on the output shaft, in response to the clutch protection having been performed on the servo.