Design of a joint angle measurement system for the rotary joint of a robotic arm using an Incremental Rotary Encoder

Oguntosin, Victoria; Akindele, Ayoola

doi:10.1088/1742-6596/1299/1/012108

Cited by 7 publications

(2 citation statements)

References 9 publications

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“…A reason for the high cost of EODR calibration is the use of theodolite-type measuring instruments, which are quite expensive [3]. In this paper, we built a low-cost prototype consisting of a multidiameter measurement using a laser rangefinder [12] and a rotary encoder [13] [14]. Theodolite is a very complex measuring instrument.…”

Section: Introductionmentioning

confidence: 99%

Low-Cost Prototype Multidiameter Measurement for Vertical Cylinder Tank

Firmansyah

Ahmad²,

Nugroho³

et al. 2022

J. Phys.: Conf. Ser.

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The vertical cylinder tank can serve as a measuring tool and as a storage device. When the vertical cylinder tank is used as a measuring instrument, it needs to be calibrated. In this process, measuring the diameter of the vertical cylinder tank is the most important step. The diameter of the tank is divided into several parts, the first part is referred to as a reference, where the results of the reference measurement will be used in the measurement of other parts. To conduct this measurement, a prototype consisting of two sensors, namely, laser distance and rotary encoder, is build. The prototype was tested using five variations in standard tube diameters measured using a steel ruler. The results of this test produce an average correction of +0.17 mm with an error of 0.59%. Furthermore, the prototype is used to measure the diameter of the vertical cylinder tank, which is compared with the certificate of the results of tank measurements using a theodolite. Testing the prototype with a vertical cylindrical tank produces a correction of +8.73 mm with an error of 0.03%. This error value is within the error limit according to the OIML International Recommendation of R-071 for vertical tanks.

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Section: Introductionmentioning

confidence: 99%

Low-Cost Prototype Multidiameter Measurement for Vertical Cylinder Tank

Firmansyah

Ahmad²,

Nugroho³

et al. 2022

J. Phys.: Conf. Ser.

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“…Only accurate and stable robot sensing information can accurately control the robot and its end effector 1 . Oguntosin measured the angle of the exoskeleton rotating joint by using an incremental encoder 2 . Dalia designed a photoelectric sensor measurement scheme that can be easily integrated into robot joints 3 .…”

Section: Introductionmentioning

confidence: 99%

IMU-based joint angle measurement for robot joint angle analysis

Chen

2022

Third International Conference on Computer Science and Communication Technology (ICCSCT 2022)

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Aiming at solving the problem of joint angle measurement during the movement of small robots or robotic arms that cannot be equipped with angle encoders, this paper provides a small, lightweight and detachable measurement system. Compared with traditional magnetic and optical joint angle sensors, the principle of this method has the advantages of flexible installation and non-invasive measurement. By simply binding two inertial measurement units (IMUs) on both sides of the robot joint in any pose, real-time and high-precision robot joint angle measurement can be achieved through wireless transmission. At the same time, the relationship between the IMU and the joint pose changes dynamically with the robot, which can avoid measurement errors due to loose binding or robot vibration. In this paper, experiments were carried out on a knee joint rehabilitation training robot which can realize two rehabilitation actions, and the precise and stable joint angle curve of the robot is obtained.

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