WO2023220871A1 - 一种机器人的关节角度的确定方法、装置、设备及介质 - Google Patents

一种机器人的关节角度的确定方法、装置、设备及介质 Download PDF

Info

Publication number
WO2023220871A1
WO2023220871A1 PCT/CN2022/093102 CN2022093102W WO2023220871A1 WO 2023220871 A1 WO2023220871 A1 WO 2023220871A1 CN 2022093102 W CN2022093102 W CN 2022093102W WO 2023220871 A1 WO2023220871 A1 WO 2023220871A1
Authority
WO
WIPO (PCT)
Prior art keywords
angle
target
joint
determining
driving end
Prior art date
Application number
PCT/CN2022/093102
Other languages
English (en)
French (fr)
Inventor
周明亮
Original Assignee
北京小米机器人技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京小米机器人技术有限公司 filed Critical 北京小米机器人技术有限公司
Priority to CN202280004638.5A priority Critical patent/CN117580683A/zh
Priority to PCT/CN2022/093102 priority patent/WO2023220871A1/zh
Publication of WO2023220871A1 publication Critical patent/WO2023220871A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

Definitions

  • the present disclosure relates to the field of robotic technology, and in particular, to a method, device, equipment and medium for determining joint angles of a robot.
  • the application of drive structures such as motors is essential.
  • the rotor speed of the motor is high but the torque generated is small, which is not enough to drive the robot joint movement. Therefore, the motor is usually used with a reducer, which reduces the speed and increases the torque to drive the robot to move.
  • position sensors are respectively installed at the motor drive end (or high-speed end) and the reducer output end (or low-speed end) of the robot joint to detect the positions of the high-speed end and the low-speed end respectively.
  • the position sensor at the high-speed end is used for motor control
  • the position sensor at the low-speed end is used to improve the accuracy of obtaining the joint end position.
  • sensors need to be installed at the high-speed end and the low-speed end respectively, which is costly.
  • the present disclosure provides a method, device, equipment and medium for determining joint angles of a robot.
  • a method for determining joint angles of a robot including:
  • the first number of rotations of the driving end corresponding to the preset posture is obtained.
  • the target angle is used to represent: when the preset joint arm of the target joint point is in the second position and the angle formed when it is at the mechanical zero position.
  • the target joint point is also provided with a drive end encoder
  • the collection of the current rotation angle of the driving end of the target joint point includes:
  • determining the target angle of the target joint point based on the current rotation angle and the first number of rotations includes:
  • the target angle is determined based on the current rotation angle, the first number of rotations, and the reduction ratio.
  • determining the target angle based on the current rotation angle, the first number of rotations, and the reduction ratio includes:
  • the quotient of the sum of the angle and the reduction ratio is determined as the target angle.
  • the method further includes determining an offset angle:
  • the third position is used to represent The maximum limit position to which the target joint point can move;
  • the third position is set as a mechanical zero position, and the offset angle is determined according to the first rotation angle corresponding to the mechanical zero position.
  • the method further includes determining the first number of rotations in the preset posture:
  • the position of the driving end is obtained through the driving end encoder.
  • the method further includes:
  • the offset angle and the first number of rotations in the preset posture are stored in the storage area of the driving end.
  • the method further includes determining the set threshold:
  • the setting threshold is determined according to the ratio of the circumferential angle to the reduction ratio of the reducer at the target joint point.
  • a device for determining joint angles of a robot including:
  • the first acquisition module is used to acquire the current rotation angle of the driving end of the target joint point when the robot moves from the first position to the second position in the preset posture;
  • a second acquisition module configured to acquire, in response to the swing angle of the preset joint arm of the target joint point being less than a set threshold when it swings from the first position to the second position, the preset posture corresponding to the preset posture.
  • Determining module configured to determine the target angle of the target joint point according to the current rotation angle and the first rotation number; wherein the target angle is used to represent: the preset joint arm of the target joint point The angle between the second position and the mechanical zero position.
  • an electronic device including:
  • the processor is configured to execute the method for determining the joint angle of the robot as described in any one of the above items.
  • a non-transitory computer-readable storage medium which when instructions in the storage medium are executed by a processor of an electronic device, enables the electronic device to perform any of the above How to determine the joint angle of the robot.
  • the technical solution provided by the embodiments of the present disclosure may include the following beneficial effects:
  • the rotation angle of the driving end and the first number of rotations can be converted into Get the position of the joint point as the target angle. This reduces the dependence of joint points on position sensors and saves hardware costs on the basis of accurately obtaining joint point positions.
  • FIG. 1 is a flowchart of a method for determining joint angles of a robot according to an exemplary embodiment.
  • FIG. 2 is a flowchart of a method for determining joint angles of a robot according to an exemplary embodiment.
  • FIG. 3 is a flowchart of a method for determining joint angles of a robot according to an exemplary embodiment.
  • Figure 4 is a schematic structural diagram of a robot according to an exemplary embodiment.
  • FIG. 5 is a block diagram of a device for determining joint angles of a robot according to an exemplary embodiment.
  • Figure 6 is a block diagram of a device according to an exemplary embodiment.
  • a position sensor such as a Hall element
  • the absolute angle of the motor reducer or joint is obtained by fitting the Hall sampling value and the original value of the magnetic encoder.
  • the method provided by the embodiment of the present disclosure can be applied to scenarios where a position sensor is not provided at the low-speed end.
  • Figure 1 is a flow chart of a method for determining joint angles of a robot according to an exemplary embodiment. As shown in Figure 1, the method of this embodiment includes the following steps S101 to S103:
  • Step S101 When the robot moves from the first position to the second position in the preset posture, the current rotation angle of the driving end of the target joint point is collected.
  • Step S102 in response to the swing angle of the preset joint arm of the target joint point being less than the set threshold when it moves from the first position to the second position, obtain the first number of rotations of the driving end corresponding to the preset posture.
  • Step S103 Determine the target angle of the target joint point based on the current rotation angle and the first rotation number.
  • the robot may include, for example, a bipedal robot, a quadrupedal robot, or other robotic arm structures.
  • a quadruped robot is taken as an example for description.
  • the quadruped robot has multiple joint points, and each joint point is equipped with a corresponding driving structure (such as a motor) and a reducer.
  • the driving end refers to the output end or output shaft of the motor.
  • the target joint point can be applied to any joint point of the robot.
  • the motor drives the joint movement through the reducer.
  • the reducer can reduce the speed output by the motor and increase the torque. That is, the speed output by the reducer is lower than the rotor speed of the motor, but the torque is increased.
  • the rotational speed of the driving end corresponds to the rotational speed of the motor's rotor
  • the rotational speed received by the joint point corresponds to the output end of the reducer.
  • the driving end can also be called the high-speed end
  • the joint point end can also be called the low speed end.
  • a position sensor for measuring the rotation angle of the driving end is provided at the driving end, and there is no need to provide a position sensor at the low speed end.
  • the robot moves from the first position to the second position in the same posture.
  • the preset posture is, for example, the quadruped robot lying down (solid line).
  • the lying down state can be the working state of the robot, in which the robot will move according to instructions.
  • the position sensor provided at the driving end is a driving end encoder, such as a magnetic encoder.
  • step S101 may include the following steps: S1011. Collect the current rotation angle of the driving end through the driving end encoder.
  • the current rotation angle represents the rotation angle of the driving end at the second position.
  • Drive-end encoders record the position of the output shaft or drive end, i.e. the angle of rotation.
  • the drive-end encoder can record the rotation angle of the drive end and the number of rotations (circle); while when the motor loses power and then restarts during operation, the drive-end encoder The device will record the angle of rotation and lose the number of turns. It can be understood that the number of rotations represents the number of times the angle of rotation of the driving end spans 2 ⁇ .
  • step S102 when the first position moves to the second position, the swing angle range of the same joint arm is determined.
  • the target joint point 2 is the joint 2 of the quadruped robot, that is, the hip joint.
  • the preset joint arm 10 of the hip joint refers to the thigh 10 of the quadruped robot.
  • the swing angle of the preset joint arm 10 can be measured or estimated through various methods. For example, an external measurement structure or measurement sensor is used to collect the swing angle and then send it to the controller of the quadruped robot. Alternatively, a human estimate of this swing angle can be fed into the controller of a quadruped robot.
  • the swing angle of the preset joint arm 10 when the swing angle of the preset joint arm 10 is less than the set threshold, it means that the rotation of the drive end or the reducer output end during the movement in this preset posture is within the same number of rotations, that is, the two positions correspond to The number of rotations of the drive end is the same.
  • the first number of rotations may be predetermined and stored in the quadruped robot, and the controller of the quadruped robot may be obtained as required.
  • the target angle ( ⁇ ) is used to represent: the angle formed by the preset joint arm 10 of the target joint point 2 when it is in the second position and when it is in the mechanical zero position.
  • the target angle is also the absolute angle of the target joint point 2.
  • the quadruped robot can know the position of the target joint point so that it can accurately control the movement of the target joint point.
  • the quadruped robot when the following two conditions are met: the quadruped robot is in the preset posture, and the swing angle of the preset joint arm from the first position to the second position is less than the set threshold, that is, the quadruped robot is in
  • the target angle of the joint point can be converted by combining the position sensor (i.e. the drive end encoder) of the drive end (high speed end) and the first number of rotations in the preset posture.
  • the position sensor i.e. the drive end encoder
  • the first number of rotations in the preset posture Uniquely determine the position of the joint point to ensure the accuracy of controlling the joint point.
  • the low-speed end does not need to be independently provided with a position sensor, which effectively reduces the design cost of the quadruped robot and helps keep the joints lightweight. It is especially suitable for low-cost or low-demand scenarios, such as scenarios that do not require high execution accuracy of end joints.
  • the method for determining the joint angle of the robot in this embodiment includes steps S101 to S103 in Figure 1 .
  • Figure 2 is a flow chart of an implementation method of step S103 according to an exemplary embodiment. As shown in Figure 2, step S103 in this embodiment may include the following steps:
  • Step S1031 Obtain the reduction ratio of the reducer at the target joint point.
  • Step S1032 Determine the target angle based on the current rotation angle, the first number of rotations, and the reduction ratio.
  • step S1031 the reduction ratio of the reducer is set to i, and the rotational speed or rotation angle of the high-speed end and the low-speed end can be converted by the reduction ratio.
  • the rotation angle of the high-speed end/i the rotation angle of the low-speed end.
  • step S1032 the current rotation angle, which is the value detected by the driving end encoder in step S101, is recorded as angle4.
  • the first number of rotations (circle1) is the number of rotations in the preset attitude pre-stored in the motor obtained in step S102.
  • the target angle ⁇ is determined based on angle4, the first number of rotations and the reduction ratio i.
  • step S1032 may include the following steps:
  • Step S1032-1 Determine the rotation angle of the driving end based on the current rotation angle and the first number of rotations.
  • Step S1032-2 Determine the angle sum of the rotation angle and the preset offset angle.
  • Step S1032-3 Determine the quotient of the angle sum and the reduction ratio as the target angle.
  • the target angle satisfies:
  • offset_motor represents the offset angle
  • the rotation angle is the sum of the current rotation angle angle4 and the first number of rotations, that is: (angle4+2 ⁇ *circle1), or the driving end is considered to be in reverse rotation in the preset posture.
  • the rotation angle It can also be recorded as (angle4-2 ⁇ *circle1). In this embodiment, the operation is described without distinguishing the rotation direction.
  • the offset angle may be determined and stored during the factory test of the quadruped robot.
  • the controller may directly obtain the preset offset angle.
  • the sum of angles obtained in this step is (angle4+2 ⁇ *circle1-angle2).
  • step S1032-3 the target angle is determined based on the angle sum determined in step S1032-2 and the reduction ratio of the reducer.
  • Figure 3 is a flowchart of a method for determining a joint angle of a robot according to an exemplary embodiment.
  • the method in this embodiment further includes: step S300, determining an offset angle.
  • it may be performed during the factory testing process of the quadruped robot, that is, before the application process of steps S101 to S103.
  • step S300 in this embodiment includes the following steps:
  • Step S301 Start the driving end, and when the target joint point moves from the initial position to the third position, obtain the first rotation angle corresponding to the third position of the driving end.
  • Step S302 Set the third position as the mechanical zero position, and determine the offset angle according to the first rotation angle corresponding to the mechanical zero position.
  • the third position is used to represent the maximum limit position to which the target joint point can move, such as the highest position to which the target joint point 2 of the quadruped robot can be pushed, as shown in the dotted line in Figure 4 Location 2'.
  • the specific position of the initial position is not limited, for example, it can be any position in the preset posture.
  • each joint of the quadruped robot is pushed from the corresponding initial position to the third position, and the first rotation angle of the drive end at the third position is collected through the drive end encoder.
  • step S302 the third position is used as the mechanical zero position.
  • Table 1 when the quadruped robot is turned on, that is, at the initial moment when the joint motor is powered on, the rotation angle of the drive end collected by the drive end encoder is recorded as angle1, and the corresponding rotation angle of the reducer output end is angle1/i.
  • the bus output value can represent the parameters sent by the motor control module to the robot controller.
  • the rotation angle of the driving end collected by the driving end encoder is the first rotation angle angle
  • the corresponding rotation angle of the reducer output end is (angle2+2 ⁇ *circle0)/i.
  • the offset angle can be stored in the storage area of the motor, such as in a flash disk.
  • the method of this embodiment further includes: step S400, determining the first number of rotations in the preset posture.
  • it may be performed during the factory test process of the quadruped robot, that is, it may be performed before the application process of steps S101 to S103, and may be performed after step S300.
  • Step S400 in this embodiment includes the following steps:
  • Step S401 When the target joint point moves from the mechanical zero position to the fourth position in the preset posture, and the driving end remains activated during the movement, the second position corresponding to the fourth position of the driving end is obtained through the driving end encoder. Angle of rotation and number of first rotations.
  • step S401 on the basis of step S300, this step can rotate each joint point from the mechanical zero position to the fourth position of the prone state while the motor remains started and does not lose power.
  • the second rotation angle angle3 of the driving end at the fourth position is collected by the driving end encoder.
  • the drive-end encoder can record the number of rotation circles, or determine the first number of rotation circles (circle1) through the second rotation angle, such as determining the first number of rotation circles (circle1) based on the value of the second rotation angle/2 ⁇ .
  • One revolution is possible.
  • the first number of rotations can represent the number of rotations of the lower drive end within a certain angle range of the preset posture (lying down state), that is, when the swing angle of the preset joint arm is less than the set threshold, it indicates that the swing The initial position and the end position are within the same number of rotations.
  • the first number of rotations can be stored in a storage area of the motor, such as in a flash disk.
  • the method of this embodiment may also include the following steps:
  • Step S500 Store the offset angle and the first number of rotations in the preset posture into the storage area of the driving end. Among them, this step S500 can be executed after step S400, and the offset angle and the first number of rotations are stored in the flash of the motor.
  • the method of this embodiment may also include the following steps:
  • Step S600 Determine to set the threshold.
  • the method for determining the joint angle of the robot according to the embodiment of the present disclosure can satisfy the normal start-up of the quadruped robot and save costs without adding a position sensor at the low-speed end.
  • FIG. 5 is a block diagram of a device for determining joint angles of a robot according to an exemplary embodiment.
  • the device includes a first acquisition module 501 , a second acquisition module 502 and a determination module 503 .
  • the first acquisition module 501 is configured to acquire the current rotation angle of the driving end of the target joint point when the robot moves from the first position to the second position in the preset posture.
  • the second acquisition module 502 is configured to acquire the first number of rotations of the driving end corresponding to the preset posture in response to the swing angle of the preset joint arm of the target joint point being less than the set threshold when it moves from the first position to the second position.
  • the determination module 503 is configured to determine the target angle of the target joint point according to the current rotation angle and the first number of rotations; where the target angle is used to represent: when the preset joint arm of the target joint point is in the second position and when it is at mechanical zero The angle formed by the position.
  • FIG. 6 is a block diagram of an electronic device 600 according to an exemplary embodiment.
  • the device 600 may be a computer, a control terminal, a motor device, etc.
  • device 600 may include one or more of the following components: processing component 602 , memory 604 , power component 606 , sensor component 608 , and communications component 610 .
  • Processing component 602 generally controls the overall operation of device 600 .
  • the processing component 602 may include one or more processors 620 to execute instructions to complete all or part of the steps of the above method. Additionally, processing component 602 may include one or more modules that facilitate interaction between processing component 602 and other components.
  • Memory 604 is configured to store various types of data to support operations at device 600 . Examples of such data include instructions for any application or method operating on device 600 .
  • Memory 604 may be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EEPROM), Programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read-only memory
  • EEPROM erasable programmable read-only memory
  • EPROM Programmable read-only memory
  • PROM programmable read-only memory
  • ROM read-only memory
  • magnetic memory flash memory, magnetic or optical disk.
  • Power supply component 606 provides power to the various components of device 600.
  • Power supply components 606 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to device 600 .
  • Sensor component 608 includes one or more sensors that provide various aspects of status assessment for device 600 .
  • Communication component 610 is configured to facilitate wired or wireless communication between device 600 and other devices.
  • Device 600 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof.
  • the communication component 610 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel.
  • device 600 may be configured by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable Gate array (FPGA), controller, microcontroller, microprocessor or other electronic components are implemented for executing the above method.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA field programmable Gate array
  • controller microcontroller, microprocessor or other electronic components are implemented for executing the above method.
  • a non-transitory computer-readable storage medium including instructions such as a memory 604 including instructions, which are executable by the processor 620 of the device 600 to complete the above method is also provided.
  • the non-transitory computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
  • the position of the joint point such as the target angle
  • the position of the joint point can be obtained through conversion based on the rotation angle of the driving end and the number of first rotations. This reduces the dependence of joint points on position sensors and saves hardware costs on the basis of accurately obtaining joint point positions.

Abstract

提供一种机器人的关节角度的确定方法、装置、设备及介质，方法包括：在机器人在预设姿态下由第一位置运动至第二位置时，采集目标关节点（2）的驱动端的当前转动角度；响应于目标关节点（2）的预设关节臂（10）从第一位置至第二位置时摆动的角度小于设定阈值，获取预设姿态对应的驱动端的第一旋转圈数；根据当前转动角度与第一旋转圈数，确定目标关节点（2）的目标角度；其中，目标角度用于表征：目标关节点（2）的预设关节臂（10）在第二位置时与在机械零位时所成的角度。该方法在设定的姿态下以及设定的关节摆动范围内，能够减少关节点对位置传感器的依赖，在准确获得关节点位置的基础上节约硬件成本。

Description

一种机器人的关节角度的确定方法、装置、设备及介质 技术领域
本公开涉及机器人技术领域，尤其涉及一种机器人的关节角度的确定方法、装置、设备及介质。
背景技术
在机器人技术中，驱动结构如电机的应用必不可少。电机的转子转速大但产生的力矩小，不足以驱动机器人关节运动。因此电机通常配合减速器使用，减速器降低转速增大力矩，以驱动机器人运动。
相关技术中，为提高控制精度在机器人关节的电机驱动端(或称高速端)和减速器输出端(或称低速端)分别设置位置传感器，以分别检测高速端和低速端的位置。高速端的位置传感器用于电机控制，低速端的位置传感器用于提高关节末端位置的获取精度。相关技术的方案中需在高速端和低速端分别设置传感器的方式成本较高。
发明内容
为克服相关技术中存在的问题，本公开提供一种机器人的关节角度的确定方法、装置、设备及介质。
根据本公开实施例的第一方面，提供一种机器人的关节角度的确定方法，包括：
在机器人在预设姿态下由第一位置运动至第二位置时，采集目标关节点的驱动端的当前转动角度；
响应于所述目标关节点的预设关节臂从所述第一位置至所述第二位置时摆动的角度小于设定阈值，获取所述预设姿态对应的所述驱动端的第一旋转圈数；
根据所述当前转动角度与所述第一旋转圈数，确定所述目标关节点的目标角度；其中，所述目标角度用于表征：所述目标关节点的预设关节臂在第二位置时与在机械零位时所成的角度。
在一些可能的实施方式中，所述目标关节点还设置有驱动端编码器；
所述采集目标关节点的驱动端的当前转动角度，包括：
获取所述驱动端编码器检测的所述驱动端的当前转动角度。
在一些可能的实施方式中，根据所述当前转动角度与所述第一旋转圈数，确定所述目标关节点的目标角度，包括：
获取所述目标关节点处减速器的减速比；
根据所述当前转动角度、所述第一旋转圈数以及所述减速比，确定所述目标角度。
在一些可能的实施方式中，所述根据所述当前转动角度、所述第一旋转圈数以及所述减速比，确定所述目标角度，包括：
根据所述当前转动角度和所述第一旋转圈数，确定所述驱动端的旋转角度；
确定所述旋转角度以及预设的偏置角度的角度和；
确定所述角度和与所述减速比的商作为所述目标角度。
在一些可能的实施方式中，所述方法还包括，确定偏置角度：
启动所述驱动端，在所述目标关节点由初始位置运动至第三位置时，获取所述驱动端在所述第三位置对应的第一转动角度；其中，所述第三位置用于表征所述目标关节点所能移动至的最大极限位置；
将所述第三位置设置为机械零位，根据所述机械零位时对应的第一转动角度，确定所述偏置角度。
在一些可能的实施方式中，所述方法还包括，确定所述预设姿态下的第一旋转圈数：
在所述目标关节点由所述机械零位运动至所述预设姿态下的第四位置，且运动过程中所述驱动端保持启动的状态下，通过驱动端编码器获取所述驱动端在所述第四位置对应的第二转动角度以及所述第一旋转圈数。
在一些可能的实施方式中，所述方法还包括：
将所述偏置角度以及所述预设姿态下的第一旋转圈数，存储至所述驱动端的存储区域。
在一些可能的实施方式中，所述方法还包括，确定所述设定阈值：
根据圆周角度与所述目标关节点处减速器的减速比的比值，确定所述设定阈值。
根据本公开实施例的第二方面，提供一种机器人的关节角度的确定装置，包括：
第一获取模块，用于在机器人在预设姿态下由第一位置运动至第二位置时，采集目标关节点的驱动端的当前转动角度；
第二获取模块，用于响应于所述目标关节点的预设关节臂从所述第一位置至所述第二位置时摆动的角度小于设定阈值，获取所述预设姿态对应的所述驱动端的第一旋转圈数；
确定模块，用于根据所述当前转动角度与所述第一旋转圈数，确定所述目标关节点的目标角度；其中，所述目标角度用于表征：所述目标关节点的预设关节臂在第二位置时与在机 械零位时所成的角度。
根据本公开实施例的第三方面，提供一种电子设备，包括：
处理器；
用于存储处理器的可执行指令的存储器；
其中，所述处理器被配置为执行如上任一项所述的机器人的关节角度的确定方法。
根据本公开实施例的第四方面，提供一种非临时性计算机可读存储介质，当所述存储介质中的指令由电子设备的处理器执行时，使得电子设备能够执行如上任一项所述的机器人的关节角度的确定方法。
本公开的实施例提供的技术方案可以包括以下有益效果：本公开的方法中，在设定的姿态下以及设定的关节摆动范围内，能够根据驱动端的转动角度以及第一旋转圈数，换算获得关节点的位置如目标角度。从而减少关节点对位置传感器的依赖，在准确获得关节点位置的基础上节约硬件成本。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本发明的实施例，并与说明书一起用于解释本发明的原理。
图1是根据一示例性实施例示出的一种机器人的关节角度的确定方法的流程图。
图2是根据一示例性实施例示出的一种机器人的关节角度的确定方法的流程图。
图3是根据一示例性实施例示出的一种机器人的关节角度的确定方法的流程图。
图4是根据一示例性实施例示出的机器人的结构示意图。
图5是根据一示例性实施例示出的一种机器人的关节角度的确定装置的框图。
图6是根据一示例性实施例示出的设备的框图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书 中所详述的、本发明的一些方面相一致的装置和方法的例子。
相关技术的一种示例方案中，为获得关节点位置，在低速端设置位置传感器(如霍尔元件)，根据霍尔采样值和磁编码器原始值拟合获得电机减速器或关节的绝对角度。此种方案中增加了关节电机轴向设计尺寸，不便于关节的轻量化，同时增加了多个霍尔传感器与相关电路，增加了设计成本。
本公开实施例提供的方法能够适用于在低速端不设置位置传感器的场景。
图1是根据一示例性实施例示出的一种机器人的关节角度的确定方法的流程图，如图1所示，本实施例的方法包括以下步骤S101至步骤S103：
步骤S101，在机器人在预设姿态下由第一位置运动至第二位置时，采集目标关节点的驱动端的当前转动角度。
步骤S102，响应于目标关节点的预设关节臂从第一位置至第二位置时摆动的角度小于设定阈值，获取预设姿态对应的驱动端的第一旋转圈数。
步骤S103，根据当前转动角度与第一旋转圈数，确定目标关节点的目标角度。
其中，在步骤S101中，机器人比如可以包括双足机器人、四足机器人或其他机械臂结构。本公开实施例中以四足机器人为例进行描述。四足机器人有多个关节点，每个关节点处设置有对应的驱动结构(如电机)和减速器，驱动端指电机的输出端或输出轴。目标关节点可以适用于机器人的任一关节点。在机器人的每个关节点处，电机通过减速器驱动关节运动，减速器可将电机输出的转速降低并增大力矩，即经过减速器输出的转速低于电机的转子转速，但力矩提升。
本步骤中，驱动端的转速对应于电机的转子的转速，关节点接收的转速对应于减速器的输出端，二者相较而言，驱动端又可称为高速端，减速器的输出端或关节点端又可称为低速端。本公开实施例中，在驱动端设置用于测量驱动端转动角度的位置传感器，低速端则不需设置位置传感器。机器人在相同姿态下由第一位置运动至第二位置，结合图4所示，预设姿态比如是四足机器人在趴下状态(实线)。趴下状态可以是机器人的工作状态，在此状态下机器人会根据指令运动。
在一个示例中，驱动端设置的位置传感器为驱动端编码器，比如为磁编码器。
本示例中，步骤S101可以包括如下步骤：S1011、通过驱动端编码器采集驱动端的当前转动角度。此步骤中，当前转动角度表征在第二位置时的驱动端的转动角度。驱动端编码器能够记录输出轴或驱动端的位置，即转动角度。在电机不掉电(即持续工作)的状态下，驱动端编码器能够记录驱动端的转动角度，以及旋转圈数(circle)；而电机工作过程中掉电再 重新启动的状态中，驱动端编码器将记录转动角度，丢失旋转圈数。可以理解的，旋转圈数表征驱动端转动的角度跨越2π的次数。
在步骤S102中，在第一位置运动至第二位置时，确定相同关节臂的摆动角度范围。结合图4所示，以目标关节点2是四足机器人的关节2即髋关节为例进行说明，髋关节的预设关节臂10指四足机器人的大腿10。四足机器人从趴下状态的第一位置运动至趴下状态的第二位置时，预设关节臂10的摆动角度可通过多种方式测量或估算。比如，利用外部测量结构或测量传感器采集摆动角度后，发送至四足机器人的控制器。或者，将此摆动角度的人为估算结果输入至四足机器人的控制器。
本步骤中，当预设关节臂10的摆动角度小于设定阈值时，表明此预设姿态下的移动过程中驱动端或减速器输出端的旋转在相同旋转圈数内，即两个位置所对应的驱动端的旋转圈数相同。第一旋转圈数可以是预先确定并预存在四足机器人中的，四足机器人的控制器可根据需求获取。
在步骤S103中，参考图4所示，目标角度(θ)用于表征：目标关节点2的预设关节臂10在第二位置时与在机械零位时所成的角度。目标角度也即目标关节点2的绝对角度，四足机器人在获知目标角度后，即可获知目标关节点的位置，以便于能够准确控制目标关节点运动。
本公开实施例中，在满足如下两个条件：四足机器人在预设姿态下，并且预设关节臂在第一位置至第二位置时摆动的角度小于设定阈值时，即四足机器人在一设定的范围内启动时，可结合驱动端(高速端)的位置传感器(即驱动端编码器)以及预设姿态下的第一旋转圈数，换算关节点(低速端)的目标角度，唯一确定关节点的位置，以便于保证控制关节点的准确性。本公开中，低速端不需独立设置位置传感器，有效降低四足机器人的设计成本，并有利于保持关节的轻量化。尤其适用于低成本或者低要求的场景，如不需求末端关节高执行精度的场景。
在一个示例性的实施例中，本实施例的机器人的关节角度的确定方法包括图1中的步骤S101至步骤S103。其中，图2是根据一示例性实施例示出的步骤S103的一种实施方法的流程图，如图2所示，本实施例中步骤S103可以包括如下步骤：
步骤S1031，获取目标关节点处减速器的减速比。
步骤S1032，根据当前转动角度、第一旋转圈数以及减速比，确定目标角度。
其中，在步骤S1031中，减速器的减速比设为i，高速端与低速端的转速或转动角度可通过减速比来换算。比如，高速端的转动角度/i＝低速端的转动角度。
在步骤S1032中，当前转动角度即步骤S101中驱动端编码器检测的值，记为angle4。第一旋转圈数(circle1)即步骤S102获取的预存在电机中的预设姿态下的旋转圈数。本步骤中根据angle4、第一旋转圈数和减速比i确定目标角度θ。
在一个示例中，步骤S1032可以包括如下步骤：
步骤S1032-1，根据当前转动角度和第一旋转圈数，确定驱动端的旋转角度。
步骤S1032-2，确定旋转角度以及预设的偏置角度的角度和。
步骤S1032-3，确定角度和与减速比的商作为目标角度。
本示例中，目标角度满足：
θ＝(angle4+2π*circle1+offset_motor)/i
其中，offset_motor表示偏置角度。
在步骤S1032-1中，旋转角度为当前转动角度angle4与第一旋转圈数的和，即：(angle4+2π*circle1)，或者在预设姿态下认为驱动端在反转，此时旋转角度也可记为(angle4-2π*circle1)。本实施例以不区分旋转方向进行运算描述。
在步骤S1032-2中，偏置角度可以是在四足机器人出厂测试的过程中确定并存储的，此步骤中控制器可以直接获取预置的偏置角度。本实施例中偏置角度为：offset_motor＝-angle2。本步骤获得的角度和为(angle4+2π*circle1-angle2)。
在步骤S1032-3中，根据步骤S1032-2确定的角度和以及减速器的减速比，确定目标角度。
图3是根据一示例性实施例示出的一种机器人的关节角度的确定方法的流程图，本实施例的方法还包括：步骤S300、确定偏置角度。其中，本实施例中可以是在四足机器人出厂测试过程中进行的，即在步骤S101至步骤S103的应用过程之前执行的。
如图3所示，本实施例中的步骤S300包括如下步骤：
步骤S301，启动驱动端，在目标关节点由初始位置运动至第三位置时，获取驱动端在第三位置对应的第一转动角度。
步骤S302，将第三位置设置为机械零位，根据机械零位时对应的第一转动角度，确定偏置角度。
其中，在步骤S301中，第三位置用于表征目标关节点所能移动至的最大极限位置，比如四足机器人的目标关节点2所能推高至的最高位置，如图4所示的虚线位置2’。对初始位置的具体位置不作限定，比如可以是处于预设姿态下的任一位置。本步骤中，在四足机器人开机启动的状态下，将四足机器人的各关节由对应的初始位置推至第三位置，并通过驱动端编 码器采集第三位置时驱动端的第一转动角度。
在步骤S302中，以第三位置作为机械零位。参考表1所示，四足机器人在开机时即关节电机上电的初始时刻，驱动端编码器采集的驱动端的转动角度记为angle1，对应的减速器输出端的转动角度为angle1/i。其中，总线输出值可以表征电机控制模块发送给机器人控制器的参数。在将各关节推至第三位置时，驱动端编码器采集的驱动端的转动角度为第一转动角度angle2，对应的减速器输出端的转动角度为(angle2+2π*circle0)/i。将第三位置设置为机械零位，令circle0＝0，并配置偏执角度offset_motor＝-angle2。
本步骤中，在获得偏置角度后可将偏置角度存储在电机的存储区域，如存储在闪存盘(flash)中。
表1
Figure PCTCN2022093102-appb-000001
在一个示例性的实施例中，本实施例的方法还包括：步骤S400、确定预设姿态下的第一旋转圈数。其中，本实施例中可以是在四足机器人出厂测试过程中进行的，即在步骤S101至步骤S103的应用过程之前执行，并可在步骤S300之后执行。
本实施例中的步骤S400包括如下步骤：
步骤S401，在目标关节点由机械零位运动至预设姿态下的第四位置，且运动过程中驱动端保持启动的状态下，通过驱动端编码器获取驱动端在第四位置对应的第二转动角度以及第一旋转圈数。
其中，在步骤S401中，在步骤S300的基础上，本步骤可在电机保持启动、不掉电的情况下，将各关节点由机械零位转至趴下状态的第四位置。参考表2所示，通过驱动端编码器采集的驱动端在第四位置的第二转动角度angle3。在此过程中，由于电机未掉电，因此驱动端编码器可以记录旋转圈数，或者通过第二转动角度确定第一旋转圈数(circle1)，如根据第二转动角度/2π的值确定第一旋转圈数。
表2
Figure PCTCN2022093102-appb-000002
而若在由机械零位转至第四位置的过程中电机断电，四足机器人的各关节的位置仍处于第四位置。结合表3所示，此时驱动端编码器的输出值与表2相同，但旋转圈数丢失(circle2＝0)。此种情况下，运动起点和终点均与电机保持启动的情况相同，因此两种情况下的旋转圈数实质是相同的。
表3
Figure PCTCN2022093102-appb-000003
本公开实施例中，第一旋转圈数能够表征在预设姿态(趴下状态)一定角度范围内下驱动端的旋转圈数，即当预设关节臂的摆动角度小于设定阈值时，表明摆动的初始位置和结束位置在相同旋转圈数内。在确定第一旋转圈数之后，可将第一旋转圈数存储在电机的存储区域，如存储在闪存盘(flash)中。
在一个示例性的实施例中，本实施例的方法还可以包括如下步骤：
步骤S500，将偏置角度以及预设姿态下的第一旋转圈数，存储至驱动端的存储区域。其中，本步骤S500可以在步骤S400之后执行，将偏置角度和第一旋转圈数存储在电机的flash中。
在一个示例性的实施例中，本实施例的方法还可以包括如下步骤：
步骤S600，确定设定阈值。其中，本步骤中，可以根据圆周角度与目标关节点处减速器的减速比的比值，确定设定阈值。比如，设定阈值＝2π/i，i即减速比。
本公开实施例的机器人的关节角度的确定方法，在不增加低速端的位置传感器的基础上，能满足四足机器人的正常启动，节约成本。本实施例中不增加低速端传感器也不需增加传感 器相关的电路，有利于使关节电机轴向更加紧凑。
图5是根据一示例性实施例示出的一种机器人的关节角度的确定装置的框图。参照图5，该装置包括第一获取模块501、第二获取模块502以及确定模块503。第一获取模块501被配置为在机器人在预设姿态下由第一位置运动至第二位置时，采集目标关节点的驱动端的当前转动角度。第二获取模块502被配置为响应于目标关节点的预设关节臂从第一位置至第二位置时摆动的角度小于设定阈值，获取预设姿态对应的驱动端的第一旋转圈数。确定模块503被配置为根据当前转动角度与第一旋转圈数，确定目标关节点的目标角度；其中，目标角度用于表征：目标关节点的预设关节臂在第二位置时与在机械零位时所成的角度。
关于上述实施例中的装置，其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述，此处将不做详细阐述说明。
图6是根据一示例性实施例示出的一种电子设备600的框图。例如，设备600可以是计算机，控制终端，电机设备等。参照图6，设备600可以包括以下一个或多个组件：处理组件602，存储器604，电力组件606，传感器组件608，以及通信组件610。
处理组件602通常控制设备600的整体操作。处理组件602可以包括一个或多个处理器620来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件602可以包括一个或多个模块，便于处理组件602和其他组件之间的交互。
存储器604被配置为存储各种类型的数据以支持在设备600的操作。这些数据的示例包括用于在设备600上操作的任何应用程序或方法的指令。存储器604可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。
电源组件606为设备600的各种组件提供电力。电源组件606可以包括电源管理系统，一个或多个电源，及其他与为设备600生成、管理和分配电力相关联的组件。
传感器组件608包括一个或多个传感器，用于为设备600提供各个方面的状态评估。
通信组件610被配置为便于设备600和其他设备之间有线或无线方式的通信。设备600可以接入基于通信标准的无线网络，如WiFi，2G或3G，或它们的组合。在一个示例性实施例中，通信组件610经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。
在示例性实施例中，设备600可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述方法。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器604，上述指令可由设备600的处理器620执行以完成上述方法。例如，所述非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本发明的其它实施方案。本申请旨在涵盖本发明的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本发明的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本发明的真正范围和精神由下面的权利要求指出。
应当理解的是，本发明并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本发明的范围仅由所附的权利要求来限制。
工业实用性
本文中，在设定的姿态下以及设定的关节摆动范围内，能够根据驱动端的转动角度以及第一旋转圈数，换算获得关节点的位置如目标角度。从而减少关节点对位置传感器的依赖，在准确获得关节点位置的基础上节约硬件成本。

Claims (11)

  1. 一种机器人的关节角度的确定方法，其特征在于，包括：
    在机器人在预设姿态下由第一位置运动至第二位置时，采集目标关节点的驱动端的当前转动角度；
    响应于所述目标关节点的预设关节臂从所述第一位置至所述第二位置时摆动的角度小于设定阈值，获取所述预设姿态对应的所述驱动端的第一旋转圈数；
    根据所述当前转动角度与所述第一旋转圈数，确定所述目标关节点的目标角度；其中，所述目标角度用于表征：所述目标关节点的预设关节臂在第二位置时与在机械零位时所成的角度。
  2. 根据权利要求1所述的机器人的关节角度的确定方法，其特征在于，所述目标关节点还设置有驱动端编码器；
    所述采集目标关节点的驱动端的当前转动角度，包括：
    通过所述驱动端编码器采集所述驱动端的当前转动角度。
  3. 根据权利要求1所述的机器人的关节角度的确定方法，其特征在于，根据所述当前转动角度与所述第一旋转圈数，确定所述目标关节点的目标角度，包括：
    获取所述目标关节点处减速器的减速比；
    根据所述当前转动角度、所述第一旋转圈数以及所述减速比，确定所述目标角度。
  4. 根据权利要求3所述的机器人的关节角度的确定方法，其特征在于，所述根据所述当前转动角度、所述第一旋转圈数以及所述减速比，确定所述目标角度，包括：
    根据所述当前转动角度和所述第一旋转圈数，确定所述驱动端的旋转角度；
    确定所述旋转角度以及预设的偏置角度的角度和；
    确定所述角度和与所述减速比的商作为所述目标角度。
  5. 根据权利要求1至4任一项所述的机器人的关节角度的确定方法，其特征在于，所述方法还包括，确定偏置角度：
    启动所述驱动端，在所述目标关节点由初始位置运动至第三位置时，获取所述驱动端在所述第三位置对应的第一转动角度；其中，所述第三位置用于表征所述目标关节点所能移动至的最大极限位置；
    将所述第三位置设置为机械零位，根据所述机械零位时对应的第一转动角度，确定所述偏置角度。
  6. 根据权利要求5所述的机器人的关节角度的确定方法，其特征在于，所述方法还包 括，确定所述预设姿态下的第一旋转圈数：
    在所述目标关节点由所述机械零位运动至所述预设姿态下的第四位置，且运动过程中所述驱动端保持启动的状态下，通过驱动端编码器获取所述驱动端在所述第四位置对应的第二转动角度以及所述第一旋转圈数。
  7. 权利要求6所述的机器人的关节角度的确定方法，其特征在于，所述方法还包括：
    将所述偏置角度以及所述预设姿态下的第一旋转圈数，存储至所述驱动端的存储区域。
  8. 根据权利要求1至4任一项所述的机器人的关节角度的确定方法，其特征在于，所述方法还包括，确定所述设定阈值：
    根据圆周角度与所述目标关节点处减速器的减速比的比值，确定所述设定阈值。
  9. 一种机器人的关节角度的确定装置，其特征在于，包括：
    第一获取模块，用于在机器人在预设姿态下由第一位置运动至第二位置时，采集目标关节点的驱动端的当前转动角度；
    第二获取模块，用于响应于所述目标关节点的预设关节臂从所述第一位置至所述第二位置时摆动的角度小于设定阈值，获取所述预设姿态对应的所述驱动端的第一旋转圈数；
    确定模块，用于根据所述当前转动角度与所述第一旋转圈数，确定所述目标关节点的目标角度；其中，所述目标角度用于表征：所述目标关节点的预设关节臂在第二位置时与在机械零位时所成的角度。
  10. 一种电子设备，其特征在于，包括：
    处理器；
    用于存储处理器的可执行指令的存储器；
    其中，所述处理器被配置为执行如权利要求1至8任一项所述的机器人的关节角度的确定方法。
  11. 一种非临时性计算机可读存储介质，其特征在于，当所述存储介质中的指令由电子设备的处理器执行时，使得电子设备能够执行如权利要求1至8任一项所述的机器人的关节角度的确定方法。
PCT/CN2022/093102 2022-05-16 2022-05-16 一种机器人的关节角度的确定方法、装置、设备及介质 WO2023220871A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202280004638.5A CN117580683A (zh) 2022-05-16 2022-05-16 一种机器人的关节角度的确定方法、装置、设备及介质
PCT/CN2022/093102 WO2023220871A1 (zh) 2022-05-16 2022-05-16 一种机器人的关节角度的确定方法、装置、设备及介质

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2022/093102 WO2023220871A1 (zh) 2022-05-16 2022-05-16 一种机器人的关节角度的确定方法、装置、设备及介质

Publications (1)

Publication Number Publication Date
WO2023220871A1 true WO2023220871A1 (zh) 2023-11-23

Family

ID=88834387

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/093102 WO2023220871A1 (zh) 2022-05-16 2022-05-16 一种机器人的关节角度的确定方法、装置、设备及介质

Country Status (2)

Country Link
CN (1) CN117580683A (zh)
WO (1) WO2023220871A1 (zh)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105058388A (zh) * 2015-08-17 2015-11-18 哈尔滨工业大学 用于获取机器人关节位置反馈信息的传感器数据融合方法
CN107081787A (zh) * 2017-04-01 2017-08-22 西安交通大学 基于工业机器人内置传感器信号的运动特性检测方法
US20180141218A1 (en) * 2013-12-13 2018-05-24 Canon Kabushiki Kaisha Robot apparatus, robot controlling method, program and recording medium
US20190168389A1 (en) * 2017-12-01 2019-06-06 Canon Kabushiki Kaisha Robot apparatus, control method for controlling the same, non-transitory computer-readable recording medium, manufacturing system, and method for manufacturing an article
CN114102594A (zh) * 2021-11-25 2022-03-01 深圳市越疆科技有限公司 机械臂关节及初始位置确定方法、装置、设备和存储介质

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180141218A1 (en) * 2013-12-13 2018-05-24 Canon Kabushiki Kaisha Robot apparatus, robot controlling method, program and recording medium
CN105058388A (zh) * 2015-08-17 2015-11-18 哈尔滨工业大学 用于获取机器人关节位置反馈信息的传感器数据融合方法
CN107081787A (zh) * 2017-04-01 2017-08-22 西安交通大学 基于工业机器人内置传感器信号的运动特性检测方法
US20190168389A1 (en) * 2017-12-01 2019-06-06 Canon Kabushiki Kaisha Robot apparatus, control method for controlling the same, non-transitory computer-readable recording medium, manufacturing system, and method for manufacturing an article
CN114102594A (zh) * 2021-11-25 2022-03-01 深圳市越疆科技有限公司 机械臂关节及初始位置确定方法、装置、设备和存储介质

Also Published As

Publication number Publication date
CN117580683A (zh) 2024-02-20

Similar Documents

Publication Publication Date Title
KR100886340B1 (ko) 이동 로봇의 자이로 센서를 캘리브레이션하는 장치 및 방법
US8496085B2 (en) Motor control device and electric power steering apparatus
JP2004212382A (ja) ロボット掃除機の回転位置誤差補正方法
JP2014167201A (ja) 開閉体の挟み込み検知装置及び開閉体装置
US9507338B2 (en) Motor control device and correction data generation method in same
WO2022105291A1 (zh) 工程机械运动姿态控制方法、装置、设备和存储介质
JP2008183690A (ja) ロボット制御装置及びロボット制御システム
JP2006271189A (ja) ギヤ付きモータ
CN111532252B (zh) 一种变速箱的控制方法及终端
JP2008148412A (ja) モータ制御装置
JP6437633B2 (ja) モータ駆動方法及び装置、電子機器
WO2023220871A1 (zh) 一种机器人的关节角度的确定方法、装置、设备及介质
US6459223B2 (en) Motor vehicle door lock and process for its control
CN109015646B (zh) 位置信息自标定方法、装置、设备和存储介质
CN213081468U (zh) 机器人臂
CN114643593A (zh) 关节模组、其多圈值获取方法和装置、机器人及介质
JPH0662322U (ja) アブソリュートエンコーダ装置
JP2009248749A (ja) 電動パワーステアリング装置の制御装置
JP6419922B1 (ja) 直流モータの制御装置
JP2003302312A (ja) エンジンの慣性モーメント測定方法
JP2000321628A (ja) パンチルトカメラ装置
JP5308144B2 (ja) サーボモータ装置の較正方法およびサーボモータ装置
JP2000280191A (ja) 位置初期化方法
US11531067B2 (en) Motor demagnetization detection method and motor demagnetization detection device
JPWO2018185863A1 (ja) 直流モータの制御装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22941922

Country of ref document: EP

Kind code of ref document: A1