Title :
3D laser-based sensor for robotics
Author :
Marques, Lino ; Moita, Femando ; Nunes, Urbano ; de Almeida, A. Traça
Author_Institution :
Dept. of Electr. Eng., Coimbra Univ., Portugal
Abstract :
The paper presents the analysis and design of a distance and orientation sensor based on the triangulation principle, using three laser diodes and a position sensitive detector (PSD). A 16-bit microcontroller controls the acquisition and the lasers, processes the data and integrates the sensor in a distributed sensor network (DSN). A DSP based processing system gathers the multisensor data, for real-time control of a PUMA 560 robot manipulator through the DSN network. A sensor model based on theoretical and experimental results is emphasized
Keywords :
controllers; manipulators; measurement by laser beam; optical sensors; semiconductor lasers; 16 bit; 3D laser-based sensor; DSP; PUMA 560 robot manipulator; acquisition; analysis; design; distance sensor; distributed sensor network; experimental results; laser diodes; microcontroller; multisensor data; orientation sensor; position sensitive detector; real-time control; robotics; sensor model; triangulation principle; Digital signal processing; Diode lasers; Laser modes; Laser theory; Microcontrollers; Optical control; Optical design; Position sensitive particle detectors; Real time systems; Robot sensing systems;
Conference_Titel :
Electrotechnical Conference, 1994. Proceedings., 7th Mediterranean
Conference_Location :
Antalya
Print_ISBN :
0-7803-1772-6
DOI :
10.1109/MELCON.1994.380819
