A new method of signal processing of photoelectric encoder in visual optical robot with multi-phalanges

The application of photoelectric encoder in visual optical robot system with multi-phalanges was introduced, a new method of incremental photoelectric encoder signal processing was put forward, a high-precision visual optical robot system with multi-phalanges was made. The basic principle of this new method is to use FPGA instead of traditional complex processing circuit, reconstruct the encoder signal waveform with self-adaptive voting method; then 4 times frequency subdivide the reconstructed signal, finally, realize the direct- identification and pulse count basing on A and B signal phase. The experiment results show that, the servo motors in the robot have a fastest speed of 4500 RPM, the photoelectric encoders output 10000 A, B signal pulse per turn, noise interference exists obviously when motors work. With this method, get the encoder signal processing circuit simplified, the power consumption reduced, the system anti-interference ability improved, and realized the direct-identification and accurate pulse count, meet the high-precision robot pose identification requirements.