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Estimation of Angular Velocity and Acceleration from Shaft Encoder Measurements

Authors: [tex2html_wrap4338]P. Dobrovolny, P.R. Bélanger

Investigator username: belanger

Category: robotics

Subcategory: identification and control

A Kalman filter algorithm has been developed to estimate angular velocity and acceleration from encoder measurements. Asynchronous observations are used, namely the time instants when encoder pulses are emitted. In addition, in order to help low-velocity performance when few pulses are generated, the fact that the encoder output has not changed is also fed to the estimator. The algorithm has been tested in batch mode, and needs to be implemented in real time. It will also be desirable to incorporate tachometer measurements into the estimator.