Robot joint characterisation and control using a magneto-optical rotary encoder
Fuente:
arXiv
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866914167031595008 |
|---|---|
| author | Guo, Yunlong Canning, John Chaczko, Zenon Peng, Gang-Ding |
| author_facet | Guo, Yunlong Canning, John Chaczko, Zenon Peng, Gang-Ding |
| contents | 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° rotation with rotation sweep rates from ν = 135 °/s to ν = 370 °/s, and an angular resolution of Δθ = 0.3°. This offers a low-cost and reliable alternative to conventional robot rotation encoders while maintaining competitive performance. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_17608 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Robot joint characterisation and control using a magneto-optical rotary encoder Guo, Yunlong Canning, John Chaczko, Zenon Peng, Gang-Ding Robotics Optics 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° rotation with rotation sweep rates from ν = 135 °/s to ν = 370 °/s, and an angular resolution of Δθ = 0.3°. This offers a low-cost and reliable alternative to conventional robot rotation encoders while maintaining competitive performance. |
| title | Robot joint characterisation and control using a magneto-optical rotary encoder |
| topic | Robotics Optics |
| url | https://arxiv.org/abs/2511.17608 |