AN OPTICAL-SYSTEM TO MEASURE THE END EFFECTOR POSITION FOR ONLINE CONTROL PURPOSES

被引:14
作者
HEEREN, TAG
VELDPAUS, FE
机构
[1] Department of Mechanical Engineering, Eindhoven University of Technology
关键词
Laser Beams - Mechanical Variables Measurement - Position - Optical Systems;
D O I
10.1177/027836499201100104
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
This article describes an optical system to measure the coordinates of a manipulator's end effector, which can move in a horizontal plane of approximately 1 x 1 m2. Two rotatable laser beams track a retroreflector pair, mounted on the end effector. The coordinates are calculated from the measured beam rotations. The resolution and reproducibility of the coordinate measurement is 0.05 mm. The maximum tracking speed mounts up to 5 m/s. Using components similar to those applied in CD players, the total cost of all mechanical, optical, and analog electronic components can be kept as low as $3000. On an IBM AT-compatible PC, it takes 1 ms to calculate the x and y coordinates from the measured signals.
引用
收藏
页码:53 / 63
页数:11
相关论文
共 5 条
[1]  
HEEREN T, 1989, THESIS EINDHOVEN U T
[2]  
VANDRIEL MAM, 1988, WFW88006
[3]  
1988, PHILIPS DATA HDB SEM
[4]  
1988, OPTICS GUIDE, V4
[5]  
1987, HDB LINEAR IC APPLIC