Angular sensing system

Abstract

A rotatable member is positioned coaxial with a joint between a first element and a second element. The joint defines an angle to be measured. The rotatable member has coded information thereon. First and second sensing heads are attached to respective elements. Coded information is arranged on the rotatable member so as to periodically pass in readable proximity to the sensing heads once every revolution of the rotatable member. A decoding system is provided for each sensing head. Each decoding system includes threshold circuitry, a state machine, and a pulse generator for providing a timing strobe. A first timer uses a timing strobe from the first sensing head for continuously determining the average elapsed time for one complete revolution of the rotatable member. A second timer uses timing strobes from the first and second sensing heads to continuously determine the average elapsed time for the coded information on the rotatable member to travel from the first sensing head to the second head. A time-based generator provides the necessary time pulse references to the first and second timers. Ratio determining circuitry calculates the ratio of the average elapsed time of the second timer to the average elapsed time of the first timer. The ratio defines the angle between the first element as a fraction of a revolution.