Title :
End-effector position-orientation measurement
Author :
Yuan, Jing ; Yu, S.L.
Author_Institution :
Dept. of Mech. Eng., Hong Kong Polytech., Kowloon, Hong Kong
fDate :
6/1/1999 12:00:00 AM
Abstract :
A low-cost device is presented for noncontact measurement of robot position and orientation. It consists of an optical sensor and three laser scanners. The sensor is attached to the end-effector while the laser scanners cast light planes to trace the sensor movement. The device measures equations of the light planes from which end-effector position and orientation are obtained. Accurate measurement is achieved in a three-DOF experiment
Keywords :
attitude measurement; manipulators; measurement by laser beam; optical scanners; optical sensors; position measurement; 3-DOF experiment; end-effector position-orientation measurement; laser scanners; low-cost device; noncontact measurement; optical sensor; robot orientation; robot position; sensor movement tracing; Cameras; Equations; Orbital robotics; Position measurement; Robot kinematics; Robot sensing systems; Robot vision systems; Robotics and automation; Ultrasonic variables measurement; Visual system;
Journal_Title :
Robotics and Automation, IEEE Transactions on
