Encoder update by using regenerative power

A method comprising:

• determining by one or more processors, while a robotic system is powered on before powering off, output of an incremental encoder indicating a first angular position of a joint of the robotic system, wherein the incremental encoder and a motor are coupled to the joint, wherein rotation of the joint is caused by the motor, wherein the robotic system powering off causes the motor to power off, wherein rotation of the joint while the motor is powered off (i) causes rotation of the motor such that electric power is generated and (ii) updates the first angular position of the joint to a second angular position of the joint, and wherein the electric power is used to power on the incremental encoder and a memory while the robotic system is powered off;
• and
• obtaining by the one or more processors, when the robotic system powers on after being powered off, information related to the second angular position of the joint from the memory, wherein the incremental encoder provides the information related to the second angular position of the joint to the memory while the robotic system is powered off.

A non-transitory computer readable medium having stored therein instructions executable by one or more processors to cause a robotic system to perform operations comprising:

• determining, while the robotic system is powered on before powering off, output of an incremental encoder indicating a first angular position of a joint of the robotic system, wherein the incremental encoder and a motor are coupled to the joint, wherein rotation of the joint is caused by the motor, wherein the robotic system powering off causes the motor to power off, wherein rotation of the joint while the motor is powered off (i) causes rotation of the motor such that electric power is generated and (ii) updates the first angular position of the joint to a second angular position of the joint, and wherein the electric power is used to power on the incremental encoder and a memory while the robotic system is powered off;
• and
• obtaining, when the robotic system powers on after being powered off, information related to the second angular position of the joint from the memory, wherein the incremental encoder provides the information related to the second angular position of the joint to the memory while the robotic system is powered off.