From smart sensors to smart actuators: Application of digital encoders for position and speed measurements in numerical control systems

Abstract

Electrical actuators are generally applied in the field of robotics to control speed or position using a numerical control system; digital sensors are then preferred because of their compatibility with the control system. Binary or digital encoders, generally of the optical type, are well adapted, since they provide position information in a digital form, which allows speed calculation by numerical derivation. The aim of this paper is to define the application limits of these digital encoders considering their optimal use, taking into account an adequate signal processing but also particular application conditions.