Position and Velocity Measurement by Optical Shaft Encoders
Tech. Report, CMU-RI-TR-82-08, Robotics Institute, Carnegie Mellon University, June, 1982
Abstract
Accurate measurement of the angular position and angular velocity of the joints is essential in the control of a robot manipulator. This report analyses in detail the design and implementation of a measurement system for the CMU Direct Drive Arm using High Resolution Optical Shaft Encoders. Two methods of angular velocity measurement - veIocity by change of position and velocity by frequency - are analysed and compared.
BibTeX
@techreport{Rangan-1982-15122,author = {Kasturi V. Rangan},
title = {Position and Velocity Measurement by Optical Shaft Encoders},
year = {1982},
month = {June},
institute = {Carnegie Mellon University},
address = {Pittsburgh, PA},
number = {CMU-RI-TR-82-08},
}
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.