用磁光旋转编码器实现机器人关节高精度定位，成本低且性能优。
Robot joint characterisation and control using a magneto-optical rotary encoder
- 利用非均匀磁铁与光学回路的双程反馈，实现磁光调制
- 支持135°/s至370°/s旋转速率，角分辨率达0.3°
- 适合对精度和成本敏感的工业机器人控制场景
本文展示了一种鲁棒、紧凑的磁光旋转编码器，用于机器人旋转关节的特性表征。系统采用双程配置，通过在光学回环中旋转非均匀磁铁，利用磁场诱导的光衰减效应进行测量。该编码器可实现连续360°旋转检测，旋转速率范围为ν = 135°/s至ν = 370°/s，角分辨率Δθ = 0.3°。相比传统机器人旋转编码器，该方案具有低成本、高可靠性优势，同时保持了竞争力的性能表现。
原文摘要 · Abstract (English)
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.
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