Encoder update by using regenerative power

摘要

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.

主权项

1. A robotic system comprising:
an incremental encoder coupled to a joint of the robotic system, wherein the incremental encoder is configured to provide outputs that indicate positions of the joint; a memory configured to store information related to a position of the joint; a motor coupled to the joint, wherein a movement of the joint while the robotic system is powered off causes mechanical motion of the motor, wherein the mechanical motion of the motor causes the motor to generate electric power, and wherein, while the robotic system is powered off, the generated electric power is used to power on the incremental encoder and the memory; and a microcontroller configured to (i), while the robotic system is powered off, receive from the incremental encoder information related to an updated position of the joint and (ii) store in the memory the information related to the updated position of the joint, wherein the updated position of the joint resulted from the movement of the joint while the robotic system was powered off, and wherein, while the robotic system is powered off, the generated electric power is also used to power on the microcontroller.