Title :
Theory, design, and implementation of a spherical encoder
Author :
Stein, David ; Chirikjian, Gregory S. ; Scheinerman, Edward R.
Author_Institution :
Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD, USA
Abstract :
We develop a methodology for absolute encoding of spherical motion. This is accomplished by painting the surface of a moving sphere in two colors and sensing the color at a finite set of points. We show how point measurements on the sphere can resolve an arbitrary rotation to within a range depending on the number of sensors and the painting of the sphere. These techniques are applied to a prototype. The implementation of this prototype is discussed.
Keywords :
Lie algebras; Lie groups; computational geometry; graph theory; matrix algebra; optical sensors; robots; absolute encoding; color sensing; spherical encoder; spherical motion; Actuators; Cameras; Encoding; Mechanical engineering; Mobile robots; Optical sensors; Painting; Prototypes; Robot vision systems; Wrist;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932866