Position and Velocity Measurement by Optical Shaft Encoders.

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--velocity by change of position and velocity by frequency--are analysed and compared. (Author)

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Document Details

Document Type
Technical Report
Publication Date
Jun 23, 1982
Accession Number
ADA121385

Entities

People

  • Kasturi V. Rangan

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Accuracy
  • Angular Acceleration
  • Circuit Boards
  • Circuits
  • Clocks
  • Coders
  • Computations
  • Control Systems
  • Converters
  • Detectors
  • Frequency
  • High Resolution
  • Mathematical Analysis
  • Measurement
  • Printed Circuit Boards
  • Printed Circuits
  • Transducers

Fields of Study

  • Physics

Readers

  • Image Processing and Computer Vision.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy