4 October 2001 Dual-position sensitive diode-based orientation measurement in laser-interferometry-based sensing and measurement technique
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Proceedings Volume 4564, Optomechatronic Systems II; (2001) https://doi.org/10.1117/12.444078
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States
Abstract
The accurate measurement of the position and orientation of a robot manipulator's end-effector is the most critical issue for calibration of the robotic devices. To accurately define a position and orientation of a robot manipulator's end-effector, measurement of six parameters is required - three for position and three for orientation. Different approaches have been studied over the last few years to measure the orientation of the end-effector dynamically and precisely. However, there are still some difficulties in determining the orientation of the end-effector in real time. In this paper, an orientation measurement methodology based on Position Sensitive Diode (PSD) measurement in laser interferometry-based sensing and measurement technique will be described. The principle and algorithms of this approach will be presented. The experimental set-up will also be described. The efficiencies and limitations of such approach will be examined.
© (2001) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Bijan Shirinzadeh, Bijan Shirinzadeh, Pek Loo Teoh, Pek Loo Teoh, } "Dual-position sensitive diode-based orientation measurement in laser-interferometry-based sensing and measurement technique", Proc. SPIE 4564, Optomechatronic Systems II, (4 October 2001); doi: 10.1117/12.444078; https://doi.org/10.1117/12.444078
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