US 12,270,686 B2
Magnetic encoder calibration
Alex Khripin, Waltham, MA (US)
Assigned to Boston Dynamics, Inc., Waltham, MA (US)
Filed by Boston Dynamics, Inc., Waltham, MA (US)
Filed on Sep. 19, 2023, as Appl. No. 18/469,994.
Application 17/661,989 is a division of application No. 16/518,191, filed on Jul. 22, 2019, granted, now 11,353,345, issued on Jun. 7, 2022.
Application 18/469,994 is a continuation of application No. 17/661,989, filed on May 4, 2022, granted, now 11,796,357.
Prior Publication US 2024/0003721 A1, Jan. 4, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G01D 18/00 (2006.01); B25J 9/16 (2006.01); G01D 5/244 (2006.01); G01D 5/347 (2006.01)
CPC G01D 18/001 (2021.05) [B25J 9/1692 (2013.01); G01D 5/2448 (2013.01); G01D 5/347 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, at data processing hardware, position measurement data from a position measurement system that is configured to measure a position of a joint of a robot, the position measurement system comprising a nonius track and a master track;
determining, by the data processing hardware, that the position measurement data comprises periodic distortion data;
modifying, by the data processing hardware, the position measurement data by:
obtaining velocity measurement data based on the position measurement data;
identifying the periodic distortion data from the velocity measurement data;
decomposing the periodic distortion data into periodic components; and
removing the periodic components from the position measurement data; and
controlling, via the data processing hardware, the joint of the robot based on the modified position measurement data.