磁気光学式ロータリーエンコーダによるロボット関節の特性評価と制御
Robot joint characterisation and control using a magneto-optical rotary encoder
磁場による光減衰を利用した小型・堅牢な磁気光学式ロータリーエンコーダを開発し、ロボット関節の回転計測と制御に応用した。
著者: Yunlong Guo, John Canning, Zenon Chaczko, Gang-Ding Peng
分類: cs.RO, physics.optics
原文アブストラクト
A robust and compact magneto-optical rotary encoder for the characterisation of robotic rotary joints is demonstrated. The system employs magnetic field-induced optical attenuation in a double-pass configuration using rotating nonuniform magnets around an optical circulator operating in reflection. The encoder tracks continuous 360{\deg} rotation with rotation sweep rates from {\nu} = 135 {\deg}/s to {\nu} = 370 {\deg}/s, and an angular resolution of {\Delta}{\theta} = 0.3{\deg}. This offers a low-cost and reliable alternative to conventional robot rotation encoders while maintaining competitive performance.