An infrared target searching gyrator for robot calibration

Author

Zhang, P. ; Larsson, C.N.

Author_Institution

Nanjing Univ. of Sci. & Technol., China

fYear

1997

fDate

7-9 Jul 1997

Firstpage

957

Lastpage

961

Abstract

A position measuring system has been developed for robot calibration. The system is essentially a mechatronic gyrator which continuously rotates to take sighting shots of infrared emitters and obtain the azimuth and elevation angles. This occurs whenever the gyrator is in a position to let the beam from one of the emitters pass through one of the slots in the gyrator to a photo sensor. The relative positions between the gyrator and the emitters can then be determined by triangulation. The gyrator is a compact, single station device which can perform 6 DOF measurement of the robot end effector by using an element target

Keywords

calibration; infrared detectors; light emitting diodes; manipulators; photodetectors; position measurement; infrared emitters; infrared target searching gyrator; mechatronic gyrator; photo sensor; position measuring system; robot calibration; robot end effector; triangulation; Calibration; Gyrators; Laser beams; Orbital robotics; Position measurement; Radar tracking; Robot sensing systems; Robot vision systems; Target tracking; Theodolites;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-4160-0

Type

conf

DOI

10.1109/ICAR.1997.620297

Filename

620297