Devices and Methods for Encoder Calibration

摘要

A device is provided that comprises a hardware segment and an actuator to adjust a position of the segment within a range of positions. The device also comprises an encoder to rotate about an encoder axis responsive to the actuator adjusting the position. The device also comprises data storage that includes a dataset indicating offset angles between a reference configuration and a plurality of configurations of the encoder. The device also comprises a controller to cause the actuator to adjust the position to an end of the range of positions, responsively identify a range of encoder positions of the encoder that corresponds to the range of positions of the segment, modify the dataset such that the reference configuration corresponds to an end of the range of encoder positions, and determine a mapping between the offset angles indicated by the modified dataset and the range of positions of the hardware segment.

主权项

1. A device comprising:
a hardware segment; an actuator to adjust a position of the hardware segment within a range of positions; an encoder to provide an indication of the adjusted position of the hardware segment, wherein the encoder provides an index signal responsive to the encoder being at an index encoder position of a plurality of index encoder positions, and wherein the plurality of index encoder positions are separated by respective offsets; data storage to store data indicating respective given offsets between a reference configuration and a plurality of configurations of the encoder, wherein the respective given offsets relate to the respective offsets between the plurality of index encoder positions; and a controller to cause the actuator to adjust the position of the hardware segment, and to responsively modify the respective given offsets of the stored data to associate the reference configuration with the hardware segment being at: (i) an end of the range of positions, (ii) another end of the range of positions, or (iii) a given position outside the range of positions.