Position and Velocity Measurement by Optical Shaft Encoders

摘要

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)