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The International Journal of Robotics Research
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Estimation of Angular Velocity and Acceleration from Shaft-Encoder Measurements

P.R. Belanger

Department of Electrical Engineering McGill University and Center for Intelligent Machines Montreal, Quebec, Canada H3A 2A7

P. Dobrovolny

Nortel Technology Ottawa, Ontario, Canada K1Y 4H7

A. Helmy

Modular Vision Systems Inc. Montreal, Quebec, Canada H4S 1X7

X. Zhang

MPB Technologies Inc. Pointe Claire, Quebec, Canada H9R 1E9

This paper suggests a Kalman-filter approach to the estimation of angular velocity and acceleration from (quantized) shaft-encoder measurements. Finite-difference estimates deteriorate as sampling rates are increased. For small sampling periods, we show that the filtering problem is the dual of the cheap control problem, and we jus tify the use of all-integrator models. We investigate Kalman filtering with constant sampling rate, and also with measurements triggered by encoder pulses. Simulation and experimental results are given.

The International Journal of Robotics Research, Vol. 17, No. 11, 1225-1233 (1998)
DOI: 10.1177/027836499801701107
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[Abstract] [PDF]