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

fYear

1994

fDate

12-14 Apr 1994

Firstpage

1328

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrotechnical Conference, 1994. Proceedings., 7th Mediterranean

Conference_Location

Antalya

Print_ISBN

0-7803-1772-6

Type

conf

DOI

10.1109/MELCON.1994.380819

Filename

380819