Regenerative Power Circuit for Incremental Encoder Position Retention
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robotic systems using incremental encoders face the challenge of losing track of absolute positioning when power is lost, requiring recalibration upon power-up, which is inefficient and can lead to safety issues due to uncontrolled joint movements.
Innovation Solution
Implementing a regenerative power system that captures kinetic energy to store updates to the incremental encoder's position when the system is powered off, allowing the encoder to retain and update joint positions without the need for recalibration upon power restoration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If an incremental encoder is used to measure joint rotation, then the system cost is reduced compared to absolute encoders, but the system loses track of absolute positioning when power is lost requiring recalibration
Solution Approach 1:
The system performs preliminary actions by capturing kinetic energy during joint movement and storing it in the regenerative power circuit before power loss occurs. This stored energy is then used to maintain encoder operation and preserve position data during power-off periods, eliminating the need for recalibration upon power restoration.
Solution Approach 2:
A regenerative power circuit is introduced as an intermediary component between the motor and the incremental encoder. This circuit captures kinetic energy from the motor during operation and uses it to power the encoder during power-off periods, enabling the encoder to maintain functionality without continuous external power supply.
2Loss of energy
If the robotic system powers off completely, then energy consumption is reduced, but the incremental encoder cannot update position information leading to recalibration requirements
Solution Approach 1:
The system implements periodic action by alternating between full power mode (for normal operation) and partial power mode (using only regenerative power for the encoder during power-off periods). This allows the system to minimize energy consumption while maintaining essential positioning functionality through periodic updates using stored kinetic energy.
3Measurement precision
If recalibration is performed upon power-up, then positioning accuracy is restored, but uncontrolled joint movements occur creating safety hazards
Solution Approach 1:
The system performs preliminary action by maintaining encoder operation during power-off periods using regenerative power, so that position information is already updated and ready when power is restored. This eliminates the need for recalibration and prevents uncontrolled joint movements, thereby avoiding safety hazards.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution eliminates the need for absolute encoders, reducing system costs and enhancing efficiency by allowing robotic systems to maintain accurate joint positioning without recalibration, thus preventing potential safety hazards from uncontrolled movements.
Implementation Method 1
rotation of the joint while the motor is powered off causes rotation of the motor such that electric power is generated
Data Source
AI summary
A robotic system may include an incremental encoder coupled to a joint of the system. The robotic system may include a memory configured to store representations of angular positions of the joint. The robotic system may include a motor coupled to the joint, where 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 angular position of the joint. The robotic system may use the electric power to power on the incremental encoder and the memory while the robotic system is powered off. One or more processors may obtain, when the robotic system powers on after being powered off, the updated angular position of the joint from the memory, where the incremental encoder provides the updated angular position to the memory while the robotic system is powered off.