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2006
IEEE

Unwarping Encoder Ripple in Low Cost Haptic Interfaces

10 years 3 months ago
Unwarping Encoder Ripple in Low Cost Haptic Interfaces
This paper describes a technique for unwarping encoder ripple in a low cost haptic interface prototype. We previously demonstrated how using a low-resolution optical encoder to electrically commutate a stepper motor can produce high torque levels with low ripple. The optical encoder scheme produces a pair of quadrature voltages that are approximately sinusoidal functions of rotor position. However, because of variations in the optical return from the low-precision encoder disk, quadrature phasing and signal amplitude vary over a mechanical turn. In this paper, we discuss an effective self-calibration technique for unwarping the encoder ripple. The technique is used in a one degree-of-freedom haptic interface prototype, and experiment results quantifying the improved performance due to encoder unwarping are presented. CR Categories: H.5.2 [User Interfaces]: Haptic I/O
Dale A. Lawrence, Lucy Y. Pao, Sutha Aphanuphong
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where HAPTICS
Authors Dale A. Lawrence, Lucy Y. Pao, Sutha Aphanuphong
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