Dual-position sensitive diode-based orientation measurement in laser-interferometry-based sensing and measurement technique

Bijan Shirinzadeh; Pek Loo Teoh

doi:10.1117/12.444078

4 October 2001 Dual-position sensitive diode-based orientation measurement in laser-interferometry-based sensing and measurement technique

Bijan Shirinzadeh, Pek Loo Teoh

Author Affiliations +

Proceedings Volume 4564, Optomechatronic Systems II; (2001) https://doi.org/10.1117/12.444078
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

The accurate measurement of the position and orientation of a robot manipulator's end-effector is the most critical issue for calibration of the robotic devices. To accurately define a position and orientation of a robot manipulator's end-effector, measurement of six parameters is required - three for position and three for orientation. Different approaches have been studied over the last few years to measure the orientation of the end-effector dynamically and precisely. However, there are still some difficulties in determining the orientation of the end-effector in real time. In this paper, an orientation measurement methodology based on Position Sensitive Diode (PSD) measurement in laser interferometry-based sensing and measurement technique will be described. The principle and algorithms of this approach will be presented. The experimental set-up will also be described. The efficiencies and limitations of such approach will be examined.

Citation Download Citation

Bijan Shirinzadeh and Pek Loo Teoh "Dual-position sensitive diode-based orientation measurement in laser-interferometry-based sensing and measurement technique", Proc. SPIE 4564, Optomechatronic Systems II, (4 October 2001); https://doi.org/10.1117/12.444078

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