Servo Output Shaft Calibration via Endpoint Detection
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Solution Overview
Problem
Existing servo output shaft angle calibration methods require manual intervention and a second calibration, making them complicated and inefficient.
Innovation Solution
An automated method that uses a control device to rotate the servo output shaft in a preset direction, detect the end point, and update the end point angle, eliminating the need for manual intervention and allowing for automatic calibration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual intervention is used for servo output shaft angle calibration, then calibration accuracy can be ensured, but calibration complexity and time consumption increase
Solution Approach 1:
The calibration system uses the servo motor itself to perform calibration operations. The control device automatically controls the servo output shaft to rotate to preset angles (0 degrees and 180 degrees), detect endpoint angles, and complete calibration without external manual intervention, making the system self-calibrating while maintaining accuracy
Solution Approach 2:
The system implements feedback by detecting the actual endpoint angle of the servo output shaft during rotation, comparing it with preset target angles (0 and 180 degrees), and using this feedback information to calculate and update the endpoint angle offset value, ensuring calibration accuracy through closed-loop control
2Manufacturing precision
If a second calibration is performed after servo installation, then precise control of joint positions is achieved, but calibration time and operational complexity increase
Solution Approach 1:
The system performs preliminary calibration actions by automatically rotating the servo output shaft to preset angles (0 and 180 degrees) and detecting endpoint angles before final positioning, establishing the baseline endpoint angle offset value that enables precise control without requiring a second calibration step
Solution Approach 2:
The patent merges the installation calibration and operational calibration into a single integrated process. The control device combines endpoint detection, angle calculation, and offset value updating in one automated calibration sequence, eliminating the need for separate second calibration while maintaining joint position precision
3Productivity
If automated calibration is implemented, then operational efficiency is improved, but calibration algorithm complexity increases
Solution Approach 1:
The calibration algorithm is segmented into distinct operational stages: first rotating the output shaft to 0 degrees and detecting the endpoint angle, then rotating to 180 degrees and detecting the endpoint angle, finally calculating the offset value. This segmentation makes the automated process systematic and manageable while maintaining high efficiency
Data Source
AI summary
The present disclosure provides a servo output shaft angle calibration method and a robot using the same. In the method, when a servo output shaft rotational angle calibration instruction is obtained, an output shaft of a servo is controlled to move in a preset rotational direction, a current angle of the output shaft of the servo is obtained when it detects that the output shaft of the servo has rotated to an end point and has a stalling, and then a preset end point angle is updated as the current angle of the output shaft of the servo, so as to take the current angle of the output shaft of the servo as the new end point angle, thereby realizing the calibration of the end point angle of the output shaft of the servo. In this manner, the entire calibration process requires no manual intervention.