Abstract
A multi-turn absolute encoder is a sensor that can measure the multi-turn rotation angle of a shaft. Recently, multi-turn absolute encoders have been studied and developed for robots. In particular, the compact hollow joint structure used in cooperative robots requires a hollow multi-turn encoder with high performance and space efficiency. In this paper, we present an absolute encoder system model that consists of multiple encoders, and propose a method to compute the multi-turn rotation angle of the system. Using the proposed method, a multi turn encoder system was designed and developed for the hollow joint of the robot. The method succeeded in measuring the absolute rotation angle with a resolution of ±0.004 rad through 84 turns of the shaft.
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