Robot joint characterisation and control using a magneto-optical rotary encoder
Abstract
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 = 135 /s to = 370 /s, and an angular resolution of θ = 0.3. This offers a low-cost and reliable alternative to conventional robot rotation encoders while maintaining competitive performance.
Turn this paper into a full lesson
ArcXiv compiles a staged curriculum from this paper: 8-12 lessons across beginner → advanced, synthesised section guides, visuals, flashcards, a quiz, exercises, and on-demand deep dives per section. Grounded in the abstract, never invented.