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[Th010] Citation: Abstract
A method is described and validated for the automatic calibration of analog
sine-wave quadrature sensors, such as optical encoders, embedded in a
functioning system. The algorithm uses a Kalman filter to estimate the true
position of the direct-drive actuated joint using a model of it's dynamics,
an applied actuator command, and measurements from the uncalibrated sensor.
From the estimated true position, a lookup table is constructed which corrects
sensor errors. Our results indicate that this method achieve accuracies
typical of interferometric calibration, without requiring an external
measurement device. The accuracy is surprisingly robust to modeling errors.
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Updated: Tue Jul 15 23:54:48 2008
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