Theory, design, and implementation of a spherical encoder
D. Stein, Gregory S. Chirikjian, Edward R. Scheinerman · 2002
We develop a methodology for absolute encoding of spherical motion. This is accomplished by painting the surface of a moving sphere in two colors and sensing the color at a finite set of points. We show how point measurements on the sphere can resolve an arbitrary rotation to within a range depending on the number of sensors and the painting of the sphere. These techniques are applied to a prototype. The implementation of this prototype is discussed.