On a mechanical device comprising at least two moving axes, one may clash against the other if axes
are not well synchronized or in case one of the axes is not properly assembled.
A sensor is typically used to prevent such clash; but this requires extra hardware. Alternatively, an
obstacle detection functionality on the controlling servo could be used, but it may damage the
components if bumping force is too high.
In this article, a sequence is described to detect relative position between both axes that uses robust
features on the axes to estimate the position of other fragile components to avoid the last from
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INC, HP, "HEIGHT DETECTION ROUTINE BETWEEN TWO AXES TO AVOID COMPONENTS DAMAGE", Technical Disclosure Commons, (March 29, 2022)