Servo Calibration via Shaft Position Sensor Feedback
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Solution Overview
Problem
The existing servo calibration process is cumbersome and inefficient, requiring power-off and restart to perform clutch protection, which complicates the calibration process and reduces efficiency.
Innovation Solution
A method and apparatus that utilize position sensors on both the motor and output shafts of the servo to determine if clutch protection has been performed, allowing for automatic calibration without power-off, by calculating position estimation values and adjusting the motor shaft based on data from the output shaft sensors, thereby simplifying the calibration process and improving efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If clutch protection is performed by powering off and restarting the servo, then the gears are protected from damage, but the calibration process becomes cumbersome and inefficient
Solution Approach 1:
The patent replaces the traditional mechanical power-off/restart calibration method with an electrical control system. The determination module detects clutch protection status through electrical signals and position feedback, while the calibration module adjusts motor shaft position through electrical control, eliminating the need for mechanical power cycling and significantly improving calibration efficiency while maintaining gear protection
2Reliability
If clutch protection is performed by powering off and restarting the servo, then the servo can be protected, but the calibration process becomes complex
Solution Approach 1:
The patent implements a self-service calibration system where the servo automatically determines its own clutch protection status through position sensor feedback and performs self-calibration by adjusting the motor shaft position. This automated self-diagnosis and self-correction mechanism eliminates complex manual calibration procedures while maintaining reliable clutch protection
Solution Approach 2:
The patent employs feedback control by using position sensors to detect the actual position of the output shaft and comparing it with the expected position. This feedback information is used by the determination module to identify clutch protection status and by the calibration module to adjust the motor shaft position, creating a closed-loop system that simplifies the calibration process while ensuring accurate gear protection
Data Source
AI summary
A servo calibration method as well as an apparatus and a robot using the same are provided. The method includes: obtaining data of a position sensor on a motor shaft of the servo; obtaining data of a position sensor on an output shaft of the servo; 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 calibrating a position of the motor shaft based on the data of the position sensor on the output shaft, if the clutch protection has been performed on the servo. Hence, the problem in the prior art that the process of the calibration is cumbersome can be solved.