Ms. Irina B. Zhuravleva Profile

Irina B. Zhuravleva

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SPIE Journal Paper | 27 July 2021

Calibration of rotary encoders with different interfaces by means of a dynamic goniometer

Petr Pavlov, Yuri Filatov, Irina Zhuravleva

OE, Vol. 60, Issue 07, 074105, (July 2021) https://doi.org/10.1117/12.10.1117/1.OE.60.7.074105

KEYWORDS: Computer programming, Interfaces, Calibration, Reliability, Optical engineering, Metrology, Sensors, Control systems, Clocks, Robotics

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Rotary optical encoders are widely used in all areas of industry, robotics, and special equipment. The accurate measurement of their characteristics is a necessary task for their successful implementation. We attempt to find a unified approach to determining the accuracy of rotary encoders. The proposed approach is based on statistics and code reliability, which characterizes the probability that the measured code corresponds to the specified code. To determine the code reliability, one has to measure the turn angle with a goniometric device and compare the measured values with the encoder codes. The paper considers the dynamic goniometer for determining the error of absolute angle encoders, which allows for highly accurate measurements in a wide range of rotation rates. The measurement is made at certain moments of time, depending on the electrical interface of the encoder. In the case of a parallel interface, the time points are determined by the moment when the encoder code changes. This data collection allows for obtaining a general population. In the case of an encoder, with the sequential approach to reading the code, it is not possible to obtain the general population in a wide range of rotation rates. We analyze the above-mentioned case in detail and present experimental data obtained with a dynamic goniometer and the results of code reliability calculations.

Proceedings Article | 10 October 2020 Presentation + Paper

Calibration of rotary encoders with different interfaces by means of laser dynamic goniometer

P. Pavlov, Yu. Filatov, I. Zhuravleva

Proceedings Volume 11552, 115520D (2020) https://doi.org/10.1117/12.2573782

KEYWORDS: Computer programming, Interfaces, Calibration, Reliability, Optical encoders, Robotics

Read Abstract +

Rotary optical encoders are widely used in all areas of industry, robotics and special equipment. The accurate measurement of their characteristics is a necessary task for their successful implementation. The report attempts to find a unified approach to determining the accuracy of rotary encoders. The proposed approach is based on statistics, on the reliability of the code, which characterizes the probability that the measured code corresponds to the specified code. To find the reliability of the code, it is necessary to measure angle of the turn using some goniometric device and compare the measured values with the codes of encoder. The report considers the laser dynamic goniometer for determining the error of absolute angle encoders, which allows measurements in a wide range of rotation rates with high accuracy. The measurement is performed at certain moments of time, depending on the electrical interface of the encoder. In the case of a parallel interface, the moments of time are determined by the moment when the code of the encoder changes. This data collection allows to get a General set of data. In the case of an encoder, where the sequential principle of reading the code, it is not possible to receive the General set in a wide range of rotation rates. The report analyzes the situation discussed above in detail. The report presents experimental data obtained on a laser dynamic goniometer and the results of calculating the reliability of the code.

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