Position and Velocity Measurement by Optical Shaft Encoders - Robotics Institute Carnegie Mellon University

Position and Velocity Measurement by Optical Shaft Encoders

Kasturi V. Rangan
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},
}