WO2019080379A1

WO2019080379A1 - Electric joint calibration method and calibration device

Info

Publication number: WO2019080379A1
Application number: PCT/CN2018/072503
Authority: WO
Inventors: 陈民忆
Original assignee: 苏州乐轩科技有限公司
Priority date: 2017-10-26
Filing date: 2018-01-12
Publication date: 2019-05-02
Also published as: CN107932554A

Abstract

An electric joint calibration method, which is used for calibrating a joint (10) of a robot (1), wherein the joint (10) has a motor (100). The method includes controlling a motor (100) to rotate from an initial position (P0) in a first direction (D1) and obtaining a first rotational current value of the motor (100) (S101), when the first rotational current value is equal to a predefined maximum current value, detecting a first measurement value, wherein the first measurement value corresponds to a first rotation angle (θ1) of the joint (10) (S103), controlling the motor (100) to rotate in a second direction (D2) opposite to the first direction (D1) and obtaining a second rotational current value of the motor (S105), when the second rotational current value is equal to the predefined maximum current value, detecting a second measurement value, wherein the second measurement value corresponds to a second rotation angle (θ2) of the joint (10) (S107), and generating a calibration value according to the first measurement value and the second measurement value (S109).

Description

Electric joint calibration method and calibration device

Technical field

The invention relates to a calibration method and a calibration device, in particular to an electric joint calibration method and a calibration device.

Background technique

With the booming industrial machinery, technologies such as automation equipment and wireless remote control are becoming more and more mature, and then began to focus on the development of robots to perform industrially repetitive or dangerous work. In recent years, in addition to the industrial field, the application of robots has expanded to the national defense, medical, service industry and home accompanying robots. Robots are often designed to perform sophisticated workflows and even more delicate, more anthropomorphic activities.

However, when the body components of the robot are assembled, there will be some slight deviations in the angles, which may cause the actual factory default values of the joints of the individual robots to be different, so that the robots receive the control commands of the same central control system. The results of each robot's execution of commands may vary. For example, a robot is shipped with its arm perpendicular to the ground, while the B robot is shipped with its arm at an angle of 1 degree (1°) to the axis perpendicular to the ground. In this way, when the central control system instructs the arm joints of the robots A and B to perform any angle of rotation, there will be a difference of 1 degree (1°) between the execution results of the robots A and B.

Therefore, how to solve the above-mentioned deficiencies of the prior art has become a problem to be solved by the present invention.

Summary of the invention

It is an object of the present invention to provide an electric joint calibration method and calibration apparatus.

In order to achieve the above object, the technical solution adopted by the present invention at the method level is:

An electric joint calibration method for calibrating a joint of a robot having a motor, the electric joint calibration method comprising:

Controlling the motor to rotate from an initial position to the first direction while obtaining a first rotational current value of the motor;

When the first rotating current value is equal to a predefined maximum current value, detecting a first measured value, the first measured value corresponding to a first rotation angle of the joint;

Controlling the motor to rotate in a second direction opposite to the first direction while obtaining a second rotational current value of the motor;

When the second rotational current value is equal to the predefined maximum current value, detecting a second measurement value, the second measurement value corresponding to a second rotation angle of the joint;

And generating a calibration value according to the first measured value and the second measured value.

The relevant content in the above technical solutions is explained as follows:

In the above solution, generating the calibration value according to the first measured value and the second measured value comprises subtracting the first measured value according to one-half of the second measured value. A calculation result produces the calibration value.

In the above solution, generating the calibration value according to the first measured value and the second measured value comprises subtracting the first measured value according to one-half of the second measured value. A calculation result is obtained, and the calculation result is multiplied by an adjustment coefficient to generate the calibration value.

In the above solution, generating the calibration value according to the first measured value and the second measured value comprises subtracting the first measured value according to one-half of the second measured value. A calculation result is obtained, and an adjustment value is added to the calculation result to generate the calibration value.

In order to achieve the above object, another technical solution adopted by the present invention at the method level is:

An electric joint calibration method for an electric joint calibration device, the electric joint calibration device having a distance sensor for calibrating a joint of a robot having a motor to drive the robot The body assembly is rotated, and the electric joint calibration method includes:

Controlling the motor to rotate from an initial position in a direction and detecting a first distance, the first distance indicating a distance between the body component and the distance sensor;

When the first distance is equal to a predetermined distance, detecting a measured value corresponding to a rotation angle of the joint;

And generating a calibration value according to the measured value and a preset measured value corresponding to the preset distance.

The relevant content in the above technical solutions is explained as follows:

In the above solution, generating the calibration value according to the first measurement value and the preset measurement value corresponding to the preset distance includes subtracting the measurement according to the preset measurement value. A result of the calculation of the value produces the calibration value.

In the above solution, generating the calibration value according to the first measurement value and the preset measurement value corresponding to the preset distance includes subtracting the measurement according to the preset measurement value. The value takes a calculation result, and the calculation result is multiplied by an adjustment coefficient to generate the calibration value.

In the above solution, generating the calibration value according to the first measurement value and the preset measurement value corresponding to the preset distance includes subtracting the measurement according to the preset measurement value. The value takes a calculation result, and the calculation result is added with an adjustment value to generate the calibration value.

In order to achieve the above object, the technical solution adopted by the present invention at the structural level is:

An electric joint calibration device for calibrating a joint of a robot having a motor for driving rotation of a body component of the robot, the electric joint calibration device comprising:

a plurality of limit fixtures for blocking rotation of the body assembly to cause a rotating current of the motor to have a predefined maximum current value;

a current detecting circuit for detecting the rotating current of the motor;

An angle sensor for detecting a measured value corresponding to a rotation angle of the joint;

a controller connected to the current detecting circuit and the angle sensor for connecting and controlling the motor to rotate in a first direction and obtaining a first rotating current value from the current detecting circuit, when determining When the first rotating current value is equal to the predefined maximum current value, a first measured value is obtained from the angle sensor, and then the motor is controlled to rotate in a second direction opposite to the first direction and The current detecting circuit obtains a second rotating current value, and when determining that the second rotating current value is equal to the predefined maximum current value, obtaining a second measured value from the angle sensor, and according to the A measured value and the second measured value produce a calibration value.

In order to achieve the above object, another technical solution adopted by the present invention at the structural level is:

a distance sensor for detecting a first distance between the body component and the distance sensor;

a controller connected to the distance sensor and the angle sensor for connecting and controlling the motor to rotate in a direction and obtaining the first distance from the distance sensor, determining that the first distance is equal to a pre- When the distance is set, a measured value is read from the angle sensor, and a calibration value is generated according to the measured value and a preset measured value corresponding to the preset distance.

The working principle and advantages of the present invention are as follows:

Compared with the prior art, the electric joint calibration method and the calibration device disclosed by the present invention can obtain the angular difference between the actual factory default position of the joint of the robot and the ideal default position, and accordingly generate a calibration value, so that In the control of the subsequent robot, the control command can be adjusted according to the calibration value to improve the accuracy of the robot executing the control command.

DRAWINGS

1A is a side view of an electric joint calibration apparatus according to an embodiment of the invention;

1B is a partial front elevational view of an electric joint calibration apparatus according to an embodiment of the invention;

2 is a flow chart of a method for calibrating an electric joint according to an embodiment of the invention;

3A-3C are schematic diagrams showing the operation of the electric joint calibration apparatus according to an embodiment of the invention;

4A is a side view of an electric joint calibration apparatus according to another embodiment of the present invention;

4B is a partial front elevational view of the electric joint calibration apparatus according to another embodiment of the present invention;

FIG. 5 is a flowchart of a method for calibrating an electric joint according to another embodiment of the present invention; FIG.

6A and 6B are schematic diagrams showing the operation of an electric joint calibration apparatus according to another embodiment of the present invention;

7A is a front elevational view of an electric joint calibration apparatus according to still another embodiment of the present invention;

7B and 7C are side views of an electric joint calibration apparatus according to still another embodiment of the present invention.

In the above figures: 1. Robot; 10. Joint; 12. Body assembly; 100. Motor; 102. Gear set; 2. Electric joint calibration device; 3. Electric joint calibration device; 4. Electric joint calibration device; Limit fixture; 21B. Limit fixture; 23. Current detection circuit; 25. Angle sensor; 35. Angle sensor; 27. Controller; 37. Controller; Y. Ideal default position; P0. Initial position; Θ0. deviation angle; D1. first direction; P1. first position; θ1. first rotation angle; D2. second direction; P2. second position; θ2. second rotation angle; 31. distance sensor; 41A~ 41N. distance sensor; W0. preset distance; W1. first distance; D3. third direction; P3. third position; θ3. third rotation angle.

Detailed ways

The present invention is further described below in conjunction with the accompanying drawings and embodiments:

1A and 1B are respectively a side view and a partial front view of an electric joint calibration device 2 suitable for the joint 10 of the robot 1 according to an embodiment of the invention. As shown in FIGS. 1A and 1B, the electric joint calibration device 2 is used to calibrate the joint 10 of the robot 1, wherein the joint 10 of the robot 1 is an electric joint having a motor 100 to drive the body assembly 12 of the robot to rotate. The electric joint calibration device 2 includes a plurality of

limit fixtures

21A and 21B, a current detecting circuit 23, an angle sensor 25, and a controller 27, wherein the controller 27 is connected to the current detecting circuit 23 and the angle sensor 25.

The

limit fixtures

21A and 21B are used to block the rotation of the body assembly 12 of the robot 1 such that the rotational current of the motor has a predefined maximum current value. In detail, the embodiment shown in FIGS. 1A and 1B illustrates that during the rotation of the body assembly 12 counterclockwise by the motor 100, the body assembly 12 is blocked by the limit fixture 21A and cannot be rotated, that is, The motor 100 will be in a stalled state, at which time the rotational current of the motor 100 will have a predefined maximum current value, wherein the predefined maximum current value is the stall current value of the motor 100. On the other hand, during the clockwise rotation of the body assembly 12 by the motor 100, the body assembly 12 is blocked by the limit fixture 21B to be in a stalled state, so that the rotational current of the motor 100 will have a predefined maximum current value. In this embodiment, the number of the

limit fixtures

21A and 21B is exemplified by two, but the present invention is not limited thereto. In this embodiment, the electric joint calibration device 2 is used to calibrate the joint 10 of the robot 1, wherein the joint 10 is a shoulder joint in this example, but the invention is not limited thereto, and can also be used for a neck joint or a limb joint.

The current detecting circuit 23 is controlled by the controller 27 and is connected to the motor 100 to obtain the rotating current of the motor 100. In detail, the current detecting circuit 23 can periodically acquire the rotational current of the motor 100 in accordance with the control command of the controller 27, and then transmit it back to the controller 27.

The angle sensor 25 is used to detect a measurement value corresponding to the rotation angle of the joint 10. As shown in FIG. 1B, the angle sensor 25 is disposed in a manner corresponding to the gear set 102 of the joint 10. In this embodiment, the angle sensor 25 is, for example, an incremental magnetic angle sensor, and the measured value is a voltage value ranging from 0 to 3.3 volts (V), and the measured value has a proportional relationship with the rotation angle. This proportional relationship depends on the range of rotational angles that the angle sensor 25 can measure.

For example, in the case where the angle of rotation of the angle sensor 25 can be measured in the range of 0 to 180 degrees (0 to 180 degrees), the angle sensor 25 detects a measured value of 1.1 V, which corresponds to 60 degrees (60). °) The angle of rotation; that is, when the measured value of the angle sensor 25 is 1.1V, it can be judged that the joint 10 is rotated by 60 degrees (60°). As another example, when the angle of rotation of the angle sensor 25 is designed to be 0 to 360 degrees (0 to 360 degrees), when the angle sensor 25 detects a measured value of 1.1 V, It is judged that the joint 10 is rotated by 120 degrees (120°). Those skilled in the art can design the angular range that the angle sensor can measure according to actual needs. Taking the neck joint of the robot as an example, in order to conform to the human body motion, an angle sensor with a rotation angle ranging from 0 to 180 degrees (0 to 180 degrees) can be designed. Taking the shoulder joint as an example, an angle sensor with a rotation angle ranging from 0 to 360 degrees (0 to 360 degrees) can be designed.

The controller 27 is configured to be coupled to the motor 100 to control the motor 100 to rotate in one direction and simultaneously determine whether the value of the rotational current from the current detecting circuit 23 is equal to a predefined maximum current value of the motor 100. When the controller 27 determines that the rotational current value is equal to the predefined maximum current value, the controller 27 controls the angle sensor 25 to detect the measured value corresponding to the rotational angle, and then controls the motor 100 to rotate in the other direction, as described above. The determining step obtains another measured value, and then generates a calibration value according to the two measured values to complete the calibration of the joint 10 of the robot 1.

In another embodiment, the angle sensor 25 can also be a component built into the robot 1, and the electric joint calibration device 2 can include a wireless transceiver to wirelessly execute the drive motor 100, detect the current of the motor 100, and read The action of taking the measured value of the angle sensor 25 is taken.

For detailed calibration methods, please refer to FIG. 1B, FIG. 2 and FIGS. 3A to 3C together. 2 is a flow chart of a method for calibrating an electric joint of a robot joint according to an embodiment of the present invention, and FIGS. 3A-3C are diagrams showing operation of an electric joint calibration device for a robot joint according to an embodiment of the invention. schematic diagram. As shown in FIG. 3A, when the motor joint calibration device 2 calibrates the joint 10 of the robot 1, the controller 27 of the electric joint calibration device 2 first controls the rotation of the motor 100 of the joint 10 to rotate the body assembly 12 to the initial position P0. , the actual factory default location. As can be seen from FIG. 3A, a deviation angle θ0 is sandwiched between the initial position P0 and the ideal default position Y. Since multiple robots may each have different deviation angles, when these robots receive control commands from the same central control system (for example, lifting the arm forward by 30 degrees (30°)), the result of each robot executing the command may be There are differences. Therefore, the deviation angle θ0 as shown in FIG. 3A can be determined by the electric joint calibration method shown in FIG. 2, and the calibration value is calculated based on the deviation angle θ0 for subsequent control of the robot.

In detail, as shown in FIGS. 2, 3A and 3B, in step S101, the controller 27 controls the motor 100 to rotate from the initial position P0 to the first direction D1 while controlling the current detecting circuit 23 to obtain the first rotation of the motor 100. Current (ie, the value of the current when the motor 100 is rotated in the first direction D1). When the motor 100 drives the body assembly 12 to rotate to the first position P1, the body assembly 12 is blocked by the limit fixture 21A and cannot continue to rotate. At this time, the motor 100 is in a locked state, and its rotational current value will be a predefined maximum. Current value. Therefore, in step S103, when the controller 27 determines that the first rotation current obtained by the current detecting circuit 23 is equal to the predefined maximum current value, it means that the motor 100 is blocked due to the body component 12 being blocked, and the controller is now The control angle sensor 25 detects the first measurement value, which corresponds to the first rotation angle θ1 of the joint 10, that is, the angle between the initial position P0 and the first position P1.

Next, as shown in FIGS. 2, 3B and 3C, in step S105, the controller 27 controls the motor 100 to rotate from the first position P1 to the second direction D2, while controlling the current detecting circuit 23 to obtain the second rotating current of the motor 100. (ie, the current value when the motor 100 rotates in the second direction D2). In the same manner as the above-mentioned principle of judging the motor stall, in step S107, when the controller 27 determines that the second rotation current obtained by the current detecting circuit 23 is equal to the predefined maximum current value, it means that the motor 100 is in the body component 12 The second position P2 is blocked by the limit fixture 21B and blocked. At this time, the angle sensor 25 detects the second measurement value, and the second measurement value corresponds to the second rotation angle θ2 of the joint 10, that is, the first position P1. An angle between the second position P2.

In step S109, the controller 27 generates a calibration value according to the first measured value and the second measured value. More specifically, as shown in FIGS. 3A to 3C, the deviation angle θ0 can be calculated by the first rotation angle θ1 and the second rotation angle θ2, that is, the equation θ0=1/2*θ2-θ1. Furthermore, as described above, the measured value (for example, the voltage value) measured by the angle sensor 25 has a proportional relationship with the rotational angle of the joint 10. In one embodiment, the calibration value may be one-half of the second measurement minus the calculation of the first measurement, that is, the calibration value is a voltage value corresponding to the deviation angle θ0. In another embodiment, the calibration value is obtained by subtracting one-half of the second measurement from the calculation result of the first measurement and multiplying by the adjustment coefficient. In still another embodiment, the calibration value is obtained by subtracting one-half of the second measurement value from the calculation result of the first measurement value and adding the adjustment value. In this way, when the ideal default position is not half of the second rotation angle θ2, the difference between the ideal default position and half of the second rotation angle θ2 may be set as the adjustment value to obtain the ideal value. The calibration value for the default position.

In addition, the above embodiment is an example in which the counterclockwise direction is the first direction D1 and the clockwise direction is the second direction D2. However, the present invention can also perform the calibration in the clockwise and counterclockwise order.

4A and 4B, FIG. 4A and FIG. 4B are respectively a side view and a partial front view of the electric joint calibration apparatus according to another embodiment of the present invention. As shown in FIGS. 4A and 4B, the electric joint calibration device 3 is the same as the electric joint calibration device 2 shown in FIGS. 1A and 1B for calibrating the joint 10 of the robot 1, wherein the joint 10 has a motor 100 to drive the body component of the robot 1. 12 turns. The electric joint calibration device 3 includes a distance sensor 31, an angle sensor 35, and a controller 37, wherein the controller 37 is connected to the distance sensor 31 and the angle sensor 35.

The distance sensor 31 is, for example, an infrared sensor for detecting the distance between the body component 12 and the distance sensor 31. The angle sensor 35 is for detecting a measurement value corresponding to the rotation angle of the joint 10. Similar to the angle sensor 25 described in the embodiment of FIG. 1B, as shown in FIG. 4B, the angle sensor 35 is disposed corresponding to the gear set 102 of the joint 10, the measured value thereof being, for example, a voltage value and a rotation angle with the joint 10. There is a proportional relationship, and the detailed proportional relationship is as described above, and will not be described here.

The controller 37 is for connecting to the motor 100 to control its rotation in one direction, and determines whether the distance detected by the distance sensor 31 is equal to the preset distance. When the controller 37 determines that the distance detected by the distance sensor 31 is equal to the preset distance, the controller 37 controls the angle sensor 35 to detect the measured value corresponding to the rotation angle, and then according to the measured value and the preset distance. The preset measurement produces a calibration value.

In another embodiment, the angle sensor 35 can also be a component built into the robot 1, and the electric joint calibration device 3 can include a wireless transceiver to wirelessly perform the measurement of the drive motor 100 and the read angle sensor 25. The action of the value.

For detailed calibration methods, please refer to Figures 4B, 5, 6A and 6B together. FIG. 5 is a flow chart of a method for calibrating an electric joint of a robot joint according to another embodiment of the present invention, and FIGS. 6A and 6B are schematic diagrams showing operation of the electric joint calibration apparatus according to another embodiment of the present invention. As shown in FIG. 6A, when the electric joint calibration device 3 calibrates the joint 10 of the robot 1, the controller 37 of the electric joint calibration device 3 first controls the rotation of the motor 100 of the joint 10 to rotate the body assembly 12 to the initial position P0. (actual factory default position), in which the deviation angle θ0 is sandwiched between the initial position P0 and the ideal default position Y.

In order to obtain the deviation angle θ0 to calculate the calibration value, as shown in FIGS. 5, 6A and 6B, in step S201, the controller 37 controls the motor 100 to rotate from the initial position P0 to the third direction D3, and controls the distance sensor 31 to detect. The distance between the body assembly 12 and the distance sensor 31 is taken as the first distance W1. When the controller 37 obtains the first distance W1 from the distance sensor 31, it is determined whether the first distance W1 is equal to the preset distance W0, wherein the preset distance W0 corresponds to a preset rotation angle. In step S203, as shown in FIG. 6B, when the motor 100 of the joint 10 drives the body assembly 12 to rotate to the third position P3 and the first distance W1 between the body assembly 12 and the distance sensor 31 is equal to the preset distance W0. The controller 37 controls the angle sensor 35 to detect the third rotation angle θ3 of the joint 10 to obtain the measured value, wherein the third rotation angle θ3 is the angle between the initial position P0 and the third position P3.

Ideally, if there is no deviation angle between the initial position of the body component of the robot and the ideal default position Y, when the distance between the body component and the distance sensor 31 is equal to the preset distance W0, the joint is rotated from the initial position by the default rotation angle. Therefore, the rotation angle corresponding to the measured value measured by the angle sensor 35 should be equal to the preset rotation angle. However, in the embodiment of FIGS. 6A to 6B, the initial position P0 of the body assembly 12 of the robot 1 has a deviation angle θ0 from the ideal default position Y, so that the distance between the body assembly 12 and the distance sensor 31 is equal to the preset. When the distance is W0, the rotation angle (the third rotation angle θ3) corresponding to the measured value measured by the angle sensor 35 will not be equal to the preset rotation angle, and the difference between the two is the deviation angle θ0.

Therefore, in step S205, the controller 37 generates a calibration value according to the measured value corresponding to the third rotational angle θ3 and the preset measured value corresponding to the preset distance W0. As described above, the preset distance W0 corresponds to the preset rotation angle, that is, the angle between the third position P3 and the ideal default position Y. The controller 37 can obtain the corresponding preset measurement value according to the rotation angle-measurement value proportional relationship of the angle sensor 35, and subtract the measurement value corresponding to the third rotation angle θ3 to obtain a corresponding value. The calculation result of the deviation angle θ0. In one embodiment, the calibration value is the calculation result corresponding to the deviation angle θ0, and in another embodiment, the calibration value is obtained by multiplying the adjustment coefficient by the calculation result. In still another embodiment, The calibration value is obtained by adding the adjustment value to the calculation result.

The electric joint calibration device 2 or 3 in the above embodiment may further include a memory electrically connected to the controller 27 or 37 to store the calibration value generated by the electric joint calibration method, so that in the control of the subsequent robot 1, the The calibration value adjustment control command. For example, when the deviation angle θ0 between the initial position P0 (the actual factory default position) of the joint 10 of the robot 1 and the ideal default position Y is 1 degree angle, the electric joint calibration device 2 or 3 of the above embodiment Calibration will generate and store a calibration value corresponding to a 1 degree angle. In the control of the subsequent robot 1, when the controller wants the robot 1 to lift the body assembly 12 by 20 degrees (20°), the central control system can adjust the control command according to the calibration value to raise the angle by 19 degrees (19°), Once the robot 1 has been able to accurately lift the body assembly 12 by 20 degrees (20°).

The above embodiment is illustrated only by calibration of one of the body components of the robot. Referring to FIGS. 7A-7C, FIGS. 7A-7C are front and side views of an electric joint calibration apparatus according to still another embodiment of the present invention. As shown in FIGS. 7A to 7C, the electric joint calibration apparatus 4 has a plurality of distance sensors 41A to 41N, and a plurality of joints can be calibrated sequentially or simultaneously to obtain calibration values of the joints. For example, the

distance sensors

41A and 41F can generate a calibration value for the head angle of the robot 1; the

distance sensors

41B and 41C can generate a calibration value for the head angle of the robot 1; the distance sensor 41D can be used for the right arm The opening angle generates an angular value; the

distance sensors

41G and 41H can generate a calibration value for the front and rear swing angles of the right arm; the distance sensors 41I and 41J can generate calibration values for the right and left angles of the right arm or the elbow direction, and the details are detailed. The calibration method is not described here as described above.

According to the electric joint calibration method and the calibration device disclosed in the present invention, the angular difference between the actual factory default position of the joint of the robot and the ideal default position can be obtained, and the calibration value is generated accordingly, so that in the control of the subsequent robot, The control command can be adjusted according to the calibration value to improve the accuracy of the robot to execute the control command.

The above embodiments are merely illustrative of the technical concept and the features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the present invention and to implement the present invention, and the scope of the present invention is not limited thereto. Equivalent variations or modifications made in accordance with the spirit of the invention are intended to be included within the scope of the invention.

Claims

An electric joint calibration method for calibrating a joint of a robot, the joint having a motor, wherein the electric joint calibration method comprises:

Controlling the motor to rotate from an initial position to the first direction while obtaining a first rotational current value of the motor;

When the first rotating current value is equal to a predefined maximum current value, detecting a first measured value, the first measured value corresponding to a first rotation angle of the joint;

Controlling the motor to rotate in a second direction opposite to the first direction while obtaining a second rotational current value of the motor;

When the second rotational current value is equal to the predefined maximum current value, detecting a second measurement value, the second measurement value corresponding to a second rotation angle of the joint;

And generating a calibration value according to the first measured value and the second measured value.
The electric joint calibration method according to claim 1, wherein the generating the calibration value according to the first measurement value and the second measurement value comprises two-half of the second measurement value. A calibration result is obtained by subtracting a calculation result of the first measurement value.
The electric joint calibration method according to claim 1, wherein the generating the calibration value according to the first measurement value and the second measurement value comprises two-half of the second measurement value. A calculation result is obtained by subtracting the first measurement value, and the calculation result is multiplied by an adjustment coefficient to generate the calibration value.
The electric joint calibration method according to claim 1, wherein the generating the calibration value according to the first measurement value and the second measurement value comprises two-half of the second measurement value. A calculation result is obtained by subtracting the first measurement value, and an adjustment value is added to the calculation result to generate the calibration value.
An electric joint calibration method for an electric joint calibration device, the electric joint calibration device having a distance sensor for calibrating a joint of a robot having a motor to drive the robot The rotation of the body assembly is characterized in that the electric joint calibration method comprises:

Controlling the motor to rotate from an initial position in a direction and detecting a first distance, the first distance indicating a distance between the body component and the distance sensor;

When the first distance is equal to a predetermined distance, detecting a measured value corresponding to a rotation angle of the joint;

And generating a calibration value according to the measured value and a preset measured value corresponding to the preset distance.
The electric joint calibration method according to claim 5, wherein the generating the calibration value according to the first measurement value and the preset measurement value corresponding to the preset distance comprises: A calculation result in which the measured value is subtracted from the measured value produces the calibration value.
The electric joint calibration method according to claim 5, wherein the generating the calibration value according to the first measurement value and the preset measurement value corresponding to the preset distance comprises: The measured value is subtracted from the measured value to obtain a calculation result, and the calculated result is multiplied by an adjustment coefficient to generate the calibration value.
The electric joint calibration method according to claim 5, wherein the generating the calibration value according to the first measurement value and the preset measurement value corresponding to the preset distance comprises: Setting the measured value minus the measured value to obtain a calculation result, adding an adjustment value to the calculation result to generate the calibration value.
An electric joint calibration device for calibrating a joint of a robot, the joint having a motor for driving a body component of the robot to rotate, wherein the electric joint calibration device comprises:

a plurality of limit fixtures for blocking rotation of the body assembly to cause a rotating current of the motor to have a predefined maximum current value;

a current detecting circuit for detecting the rotating current of the motor;

An angle sensor for detecting a measured value corresponding to a rotation angle of the joint;

a controller connected to the current detecting circuit and the angle sensor for connecting and controlling the motor to rotate in a first direction and obtaining a first rotating current value from the current detecting circuit, when determining When the first rotating current value is equal to the predefined maximum current value, a first measured value is obtained from the angle sensor, and then the motor is controlled to rotate in a second direction opposite to the first direction and The current detecting circuit obtains a second rotating current value, and when determining that the second rotating current value is equal to the predefined maximum current value, obtaining a second measured value from the angle sensor, and according to the A measured value and the second measured value produce a calibration value.
An electric joint calibration device for calibrating a joint of a robot, the joint having a motor for driving a body component of the robot to rotate, wherein the electric joint calibration device comprises:

a distance sensor for detecting a first distance between the body component and the distance sensor;

An angle sensor for detecting a measured value corresponding to a rotation angle of the joint;

a controller connected to the distance sensor and the angle sensor for connecting and controlling the motor to rotate in a direction and obtaining the first distance from the distance sensor, determining that the first distance is equal to a pre- When the distance is set, a measured value is read from the angle sensor, and a calibration value is generated according to the measured value and a preset measured value corresponding to the preset distance.