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From: grege@gold.GVG.TEK.COM (Greg Ebert)
Newsgroups: comp.robotics,comp.lsi,sci.electronics
Subject: Re: velocity sensing for robotic joints
Message-ID: <1251@gold.GVG.TEK.COM>
Date: 9 Aug 90 17:53:45 GMT
References: <1990Aug7.205751.21206@ecf.utoronto.ca> <19481@well.sf.ca.us>
Followup-To: comp.robotics
Organization: Grass Valley Group, Grass Valley, CA
Lines: 6


Although non-digital, another method of measuring the rotational velocity
is to measure the back-emf of the motor. I've seen this used in closed-loop
analog systems for accurate speed control. A degenerate case is the detection
of a 'motor-jam' condition. With cheap multichannel ADC's available, methinks
this might warrant some consideration.