Laser-radar-based three-dimensional sensor for teaching robot paths

Anssi Jaakko Maekynen; Juha Tapio Kostamovaara; Risto A. Myllylae

doi:10.1117/12.208080

Abstract

Implementation and test results of a 3-D sensor based on time-of-flight (TOF) laser radar are presented. A sensor capable of measuring 3-D positions and orientations in a large working space is used for interactive teaching of robot paths and environments. It consists of a pointing device, a laser rangefinder, and a video tracker. The 3-D position and orientation of the pointer are obtained by measuring the distance from two separate points on the pointer arm to a tracking receiver and by using the tracking-camera image for detecting the angle of the pointer on the plane that is perpendicular to the optical axis of the tracking system. The rangefinder uses a new active target operating principle, including fiber-coupled transmitters attached to the pointer arm. The distance and angle measurement accuracies were measured to be better than ± 5 mm and ± 5 deg in the ranges of 2.3 to 4.7 &mum and ± 40 deg, respectively, using ordinary technology. The operating range is likely to be increased and the accuracy enhanced by using the latest state-of-the-art TOF rangefinding technique.

Citation Download Citation

Anssi Jaakko Maekynen, Anssi Jaakko Maekynen, Juha Tapio Kostamovaara, Juha Tapio Kostamovaara, Risto A. Myllylae, Risto A. Myllylae, } "Laser-radar-based three-dimensional sensor for teaching robot paths," Optical Engineering 34(9), (1 September 1995). https://doi.org/10.1117/12.208080 . Submission:

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