Abstract
The dual absolute encoder (DAE) system is a measurement system for a motion control system that comprises two absolute encoders and one reduction mechanism. In terms of accuracy and measuring range, DAE is superior to ordinary dual encoder systems, which comprise one incremental encoder, one absolute encoder, and a reduction mechanism. In this study, we focus on the error measurement and compensation using DAE system. There have been many studies to measure and compensate for the errors in measuring systems. However, this typically demands high precision equipment to measure the errors, and attaching and detaching the equipment affects the errors. We measured the errors in the absolute encoder by using the DAE systems solely. The measured errors are modeled using harmonic functions and compensated for by using the modeled errors. The experimental results reveal that the maximum errors and mean absolute errors decrease by one-seventh and one-twelfth, respectively, after error compensation. As a result, we can compensate the errors in the encoders with the encoder system, itself. Additionally, the modeled errors in a DAE system are observed to remain constant even when changing the reduction ratios between two absolute encoders. Once the errors are measured and modeled in the DAE system, the modeled errors can be applied to a DAE system with a different reduction ratio for error compensation.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Ai H, Li L (2011) The study of encoding principle and encoding disc design of a new-style vernier absolute encoder. In: 2011 international conference on electrical and control engineering, 2011. IEEE, pp 3271–3273
Cai N, Xie W, Peng HX, Wang H, Yang ZJ, Chen X (2017a) A novel error compensation method for an absolute optical encoder based on empirical mode decomposition. Mech Syst Signal Process 88:81–88. https://doi.org/10.1016/j.ymssp.2016.10.031
Cai NA, Xiao P, Ye Q, Wang H, Chen XD, Ling BGWK (2017b) Improving the measurement accuracy of an absolute imaging position encoder via a new edge detection method. IET Sci Meas Technol 11:406–413. https://doi.org/10.1049/iet-smt.2016.0181
Choi J, Lee C, Bang Y (2013) Initial positioning of a smart actuator using dual absolute encoders. In: 2013 13th international conference on control, automation and systems (ICCAS 2013), October 2013. pp 1588–1592. https://doi.org/10.1109/ICCAS.2013.6704183
Dziwinski T (2015) A novel approach of an absolute encoder coding pattern. IEEE Sens J 15:397–401. https://doi.org/10.1109/Jsen.2014.2345587
Encoder application handbook (2003) https://www.cdn2.hubspot.net/hubfs/291699/uploadedFiles/_site_root/Service_and_Support/Danaher_Encoder_Handbook.pdf. Accessed 24 Oct 2019
Fang L, Luo M, Chen J, Wang P (2014) Dual-arm robot modular joint design and error analysis. In: 2014 IEEE international conference on mechatronics and automation, August 2014. pp 1300–1305. https://doi.org/10.1109/ICMA.2014.6885887
Faulhaber motor with absolute encoder (2020) https://www.faulhaber.com/en/products/encoders/absolute-encoders/. Accessed 23 June 2020
FHA-C Mini 24VDC incremental, absolute or dual absolute encoders (2019) https://www.harmonicdrive.net/_hd/content/documents1/FHAMini24VDCO.pdf. Accessed 24 Oct 2019
Gazeau JP, Zehloul S, Arsicault M, Lallemand JP (2001) The LMS hand: force and position controls in the aim of the fine manipulation of objects. In: Proceedings 2001 ICRA. IEEE international conference on robotics and automation (Cat. No. 01CH37164), May 2001, vol 2643, pp 2642–2648. https://doi.org/10.1109/ROBOT.2001.933021
Hagiwara N, Suzuki Y, Murase H (1992) A method of improving the resolution and accuracy of rotary encoders using a code compensation technique. IEEE T Instrum Meas 41:98–101
Kaul SK, Tickoo AK, Koul R, Kumar N (2008) Improving the accuracy of low-cost resolver-based encoders using harmonic analysis. Nucl Instrum Methods A 586:345–355. https://doi.org/10.1016/j.nima.2007.12.009
Lebastard V, Aoustin Y, Plestan F (2011) Estimation of absolute orientation for a bipedal robot: experimental results. IEEE Trans Robot 27:170–174. https://doi.org/10.1109/Tro.2010.2094410
Lee KM, Choi J, Bang YB (2016) Shaft position measurement using dual absolute encoders. Sens Actuators A Phys 238:276–281. https://doi.org/10.1016/j.sna.2015.12.027
Lee KM, Gu T, Bang YB (2020) Analysis of accuracy and measuring range of dual absolute encoder system. IEEE Sens J 20:2997–3004. https://doi.org/10.1109/jsen.2019.2955381
Lim JS, Lee YJ (2014) Detection of absolute position of robot actuator with two incremental encoders. In: 2014 IEEE international conference on industrial technology (ICIT). IEEE, pp 877–879
Lohmeier S, Buschmann T, Ulbrich H, Pfeiffer F Modular joint design for performance enhanced humanoid robot LOLA. In: Proceedings 2006 IEEE international conference on robotics and automation, 2006. ICRA 2006, May 2006. pp 88–93. 10.1109/ROBOT.2006.1641166
Maxon motor with absolute encoder (2020) https://www.maxongroup.com/maxon/view/category/sensor/. Accessed 23 June 2020
Merry R, van de Molengraft R, Steinbuch M (2007) Error modeling and improved position estimation for optical incremental encoders by means of time stamping. In: 2007 American control conference. IEEE, pp 3570–3575
Nasu S, Wada MA (2016) new absolute angle detection system and its application for angle measurement of ACRO-DD. In: 2016 IEEE/SICE international symposium on system integration (SII), December 2016. pp 278–283. https://doi.org/10.1109/SII.2016.7844011
Qin S, Huang Z, Wang X (2010) Optical angular encoder installation error measurement and calibration by ring laser gyroscope. IEEE Trans Instrum Meas 59:506–511. https://doi.org/10.1109/tim.2009.2022104
Wekhande S, Agarwal V (2006) High-resolution absolute position vernier shaft encoder suitable for high-performance PMSM servo drives. IEEE Trans Instrum Meas 55:357–364. https://doi.org/10.1109/Tim.2005.862020
Xu Z-H, Wang S-C, Chin T-S, Chang J-Y, Sung C-K (2014) Multi-pole fine magnetic scale for high-resolution magnetic encoders evidenced by a simplified method. Microsyst Technol 20:1491–1496. https://doi.org/10.1007/s00542-014-2151-6
Ye G et al (2015) Precise and robust position estimation for optical incremental encoders using a linearization technique. Sens Actuators A 232:30–38
Acknowledgements
This work was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (nos. NRF-2017R1D1A1B03033321 and NRF-2017R1D1A1B03033625).
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Lee, Km., Gu, T. & Bang, Yb. Measurement and compensation of errors in absolute encoder using dual absolute encoder system. Microsyst Technol 26, 3469–3476 (2020). https://doi.org/10.1007/s00542-020-04925-3
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s00542-020-04925-3