Multi-turn detection method and device, equipment and storage medium
CN119362958APending Publication Date: 2025-01-24GUANGZHOU SHIYUAN ELECTRONICS CO LTD +1
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Patent Information
- Application Number
- CN202310873298.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-07-14
- Publication Date
- 2025-01-24
AI Technical Summary
Technical Problem
Multiple turns recording is inaccurate due to power failure or static error of joint module motor.
Method used
Through the motor movement of the joint module to the limit position, obtain the measurement angle position and calibration limit angle position, and determine the actual number of actual number according to the relationship between the two.
Benefits of technology
It realizes the correction of the multi-turn number of the joint module motor and obtains the accurate multi-turn number. The method is simple and convenient.
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Smart Images
Figure CN119362958A_ABST
Abstract
The invention provides a multi-turn detection method, device and equipment and a storage medium, and the method comprises the steps: driving a joint module motor in target equipment to move to a limit position, and obtaining a measurement angle position of the joint module motor at the limit position, the measurement angular position is an angular position output by the joint module motor when the joint module motor moves to the limit position; obtaining a calibrated limit angle position of the joint module motor, wherein the calibrated limit angle position is a calibrated multi-circle angle position when the joint module motor moves to the limit position; and according to the calibrated limit angle position and the measurement angle position, the actual number of turns of the joint module motor at the limit position is determined. According to the technical scheme, correction of multiple turns of the joint module motor can be realized.
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