Shutdown method by using local control board

摘要

The present application discloses implementations that involve shutdowns of a robotic system. An example may include controlling, by a robotic system, a plurality of motors of the robotic system with a central processing unit (CPU). The example may also include determining, by the robotic system, an error condition of the robotic system, where the error condition prevents the CPU from controlling at least one of the plurality of motors. The example may also include causing a plurality of motor driver boards to control the plurality of motors of the robotic system in response to determining the error condition of the robotic system. The example may also include receiving, by the plurality of motors, one or more commands from the plurality of motor driver boards to move the robotic system to a stationary position and park the robotic system in the stationary position.

主权项

1. A method comprising:
controlling, by a robotic system, a plurality of motors of the robotic system with a central processing unit (CPU); determining, by the robotic system, an error condition of the robotic system, wherein the error condition prevents the CPU from controlling at least one of the plurality of motors; in response to determining the error condition of the robotic system, causing a plurality of motor driver boards to control the plurality of motors of the robotic system; receiving, by the plurality of motors, one or more commands from the plurality of motor driver boards; based on the received one or more commands from the plurality of motor driver boards, causing the robotic system to move to a stationary position; and parking the robotic system in the stationary position.