1 March 1992 Fiber-optic-coupled coherent laser radar sensing system for robotic applications
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Space based robotic systems require sensing technology that is robust, flexible, and light weight. This paper presents a sensing system concept utilizing miniature fiber optic sensors capable of being integrated directly into robotic end effectors. This system is capable of providing range (distance) and pose (orientation) measurements independent of all lighting conditions, including direct sunlight. Range measurements are achieved via a frequency modulated laser radar scheme which utilizes the fiber sensor end reflection as the local oscillator. Range sensors can be multiplexed via a fiber optic switch to provide pose information or configured as a 'smart skin' for collision avoidance applications. Force measurements are also provided via an interferometric path length matching geometry in which the length of a miniature compliant sensing cell is determined and converted to an applied force. The sensing system's coherent optical configuration provides for flexibility in sensor allocation and immunity from environmental perturbations while allowing a single controller to be shared among a large number of sensors for efficient situation assessment and robotic control.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Anthony R. Slotwinski, Anthony R. Slotwinski, James J. Genova, James J. Genova, } "Fiber-optic-coupled coherent laser radar sensing system for robotic applications", Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992); doi: 10.1117/12.56764; https://doi.org/10.1117/12.56764


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