公开(公告)号：US20160332302A1

公开(公告)日：2016-11-17

申请号：US15222485

申请日：2016-07-28

Applicant: Google Inc.

Inventor： Jeffrey Thomas Bingham ,  Rob Wilson ,  Advait Jain ,  Miguel Rivas ,  Lee Magnusson

IPC: B25J9/16 ,  G01D5/244 ,  G01D5/26

CPC classification number: B25J9/1692 ,  B25J9/1697 ,  G01D5/2448 ,  G05B2219/39058 ,  G05B2219/40596 ,  Y10S901/02 ,  Y10S901/09 ,  Y10S901/47

Abstract: 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.

Abstract translation: 提供了一种装置，其包括硬件段和致动器，以在所述位置范围内调节所述段的位置。 该装置还包括响应于致动器调节位置而围绕编码器轴旋转的编码器。 该设备还包括数据存储器，其包括指示参考配置和编码器的多个配置之间的偏移角度的数据集。 该装置还包括控制器，用于使致动器将位置调整到位置范围的一端，响应于识别对应于段的位置范围的编码器的编码器位置的范围，修改数据集，使得 参考配置对应于编码器位置的范围的结束，并且确定由修改的数据集指示的偏移角与硬件段的位置范围之间的映射。

公开(公告)号：US09427872B1

公开(公告)日：2016-08-30

申请号：US14578446

申请日：2014-12-21

Applicant: Google Inc.

Inventor： Jeffrey Thomas Bingham ,  Rob Wilson ,  Advait Jain ,  Miguel Rivas ,  Lee Magnusson

IPC: B25J9/00 ,  B25J9/16 ,  G01D5/26 ,  G01D5/244

CPC classification number: B25J9/1692 ,  B25J9/1697 ,  G01D5/2448 ,  G05B2219/39058 ,  G05B2219/40596 ,  Y10S901/02 ,  Y10S901/09 ,  Y10S901/47

Abstract: 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.

Abstract translation: 提供了一种装置，其包括硬件段和致动器，以在所述位置范围内调节所述段的位置。 该装置还包括响应于致动器调节位置而围绕编码器轴旋转的编码器。 该设备还包括数据存储器，其包括指示参考配置和编码器的多个配置之间的偏移角度的数据集。 该装置还包括控制器，用于使致动器将位置调整到位置范围的一端，响应于识别对应于段的位置范围的编码器的编码器位置的范围，修改数据集，使得 参考配置对应于编码器位置的范围的结束，并且确定由修改的数据集指示的偏移角与硬件段的位置范围之间的映射。