Non-contact position and orientation measurement system used one dimensional optical position sensor fusion
To achieve real-time,multi-degree-of-freedom measurement and feedback on the position and orientation of a robot's end-effector,a planar 3-DOF non-contact measurement system utilizing sensor fu-sion of a Position Sensitive Detector(PSD)was developed.The system's design involved studying the measurement principle,signal processing circuitry,ambient light interference mitigation,and a nonlinear calibration algorithm.Initially,a 4-PSD measurement system was tailored to the PSD sensor's measure-ment capabilities and the specific needs of planar 3-DOF measurement,establishing a mathematical model for the system.The PSD sensor's signal processing was then explored,achieving single PSD signal pro-cessing through an operational amplifier and divider,integrated with an MCU and A/D conversion chip for high-frequency signal acquisition on a PC.Preliminary tests of the 4-PSD system addressed ambient light interference using laser modulation and digital filtering techniques.Calibration of the 4-PSD system-com-prising origin,angle,length,and second-order nonlinear calibration-was conducted using a laser displace-ment sensor,detailing the calibration steps and post-calibration error distribution.The designed system boasts a high measurement frequency of 50 Hz,with calibration experiments indicating an average accura-cy of 0.49 mm within a 70 mm×70 mm range,achieving a 90%error reduction post-calibration.This sys-tem fulfills the majority of requirements for high-speed,high-precision,non-contact real-time measure-ment and feedback of robot end-effectors.
Position Sensitive Detector(PSD)sensorposition and orientation measurementreal-time feedbackmeasurement and calibration
万方数据
维普
