{"ID":2839904,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.17608","arxiv_id":"2511.17608","title":"Robot joint characterisation and control using a magneto-optical rotary encoder","abstract":"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° rotation with rotation sweep rates from ν = 135 °/s to ν = 370 °/s, and an angular resolution of Δθ = 0.3°. This offers a low-cost and reliable alternative to conventional robot rotation encoders while maintaining competitive performance.","short_abstract":"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 c...","url_abs":"https://arxiv.org/abs/2511.17608","url_pdf":"https://arxiv.org/pdf/2511.17608v1","authors":"[\"Yunlong Guo\",\"John Canning\",\"Zenon Chaczko\",\"Gang-Ding Peng\"]","published":"2025-11-18T07:54:29Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"physics.optics\"]","methods":"[]","has_code":false}