Patent ID: 10668632

Abstract:
A method for an external force to drive a moving piece in a mechanical joint. The joint comprises a stationary piece, a moving piece, and a driving mechanism. The driving mechanism comprises a servomotor, a driver, and an encoder. The servomotor is connected to the moving piece. When the joint is stationary, the servomotor is in a torque mode and outputs a resistance-reducing torque having a direction which changes with time. An external force is used to drive the moving piece so that the moving piece moves with respect to the stationary piece. The driver determines the movement direction of the moving piece according to an output of the encoder. If the moving piece is moving in a positive direction with respect to the stationary piece, the servomotor is controlled to stop outputting the resistance-reducing torque or to output an assistance torque enabling the moving piece to have a positive directional movement trend. If the moving piece is moving in reverse with respect to the stationary piece, the servomotor is controlled so as to stop outputting the resistance-reducing torque or to output an assistance torque enabling the moving piece to have a reverse movement trend.