A robust and compact magneto-optical rotary encoder for the characterisation of robotic rotary joints is demonstrated. The system employs magnetic field-induced optical attenuation in a double-pass configuration using rotating nonuniform magnets around an optical circulator operating in reflection. The encoder tracks continuous 360{ \deg} rotation with rotation sweep rates from { \nu} = 135 { \deg}/s to { \nu} = 370 { \deg}/s, and an angular resolution of { \Delta}{ \theta} = 0.3{ \deg}. This offers a low-cost and reliable alternative to conventional robot rotation encoders while maintaining competitive performance.
Categories: cs.RO physics.optics