Patent ID: 9261893
Filing Date: 2016-02-16
CPC Classification: B25J,G05B,G05F,Y10S

Claim Text:
1. A robotic system comprising: an incremental encoder coupled to a joint of the robotic system, wherein the incremental encoder is configured to provide outputs that indicate angular positions of the joint; a memory configured to receive the outputs that indicate the angular positions of the joint from the incremental encoder, and to store representations of the angular positions of the joint; a motor coupled to the joint and configured to cause rotation of the joint, wherein the robotic system powering off causes the motor to power off, and wherein rotation of the joint while the motor is powered off (i) causes rotation of the motor such that electric power is generated, and (ii) updates a first angular position of the joint to a second angular position of the joint; a regenerative power circuit configured to receive the electric power and use the electric power to power on the incremental encoder and the memory while the robotic system is powered off; and one or more processors configured to (i) determine, while the robotic system is powered on prior to powering off, output of the incremental encoder indicating the first angular position of the joint, and (ii) obtain, when the robotic system powers on after being powered off, information related to the second angular position of the joint from the memory, wherein the incremental encoder provides the information related to the second angular position of the joint to the memory while the robotic system is powered off.