DocumentCode
1747461
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
Volume
2
fYear
2001
fDate
2001
Firstpage
1773
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.932866
Filename
932866
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