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Position and Velocity Measurement by Optical Shaft Encoders
K.V. Rangan
tech. report CMU-RI-TR-82-08, Robotics Institute, Carnegie Mellon University, June, 1982.

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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.

Grant ID: #F33615-86-C-5-38

K.V. Rangan, Position and Velocity Measurement by Optical Shaft Encoders, tech. report CMU-RI-TR-82-08, Robotics Institute, Carnegie Mellon University, June, 1982.

@techreport{Rangan_1982_38,
   author = "Kasturi V Rangan",
   title = "Position and Velocity Measurement by Optical Shaft Encoders",
   institution = "Robotics Institute, Carnegie Mellon University",
   month = "June",
   year = "1982",
   number = "CMU-RI-TR-82-08",
   address = "Pittsburgh, PA"
}