Share Email Print

Optical Engineering

Laser-radar-based three-dimensional sensor for teaching robot paths
Author(s): Anssi Jaakko Maekynen; Juha Tapio Kostamovaara; Risto A. Myllylae
Format Member Price Non-Member Price
PDF $20.00 $25.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

Paper Abstract

Implementation and test results of a 3-D sensor based on time-of-flight (TOF) laser radar are presented. A sensor capable of measuring 3-D positions and orientations in a large working space is used for interactive teaching of robot paths and environments. It consists of a pointing device, a laser rangefinder, and a video tracker. The 3-D position and orientation of the pointer are obtained by measuring the distance from two separate points on the pointer arm to a tracking receiver and by using the tracking-camera image for detecting the angle of the pointer on the plane that is perpendicular to the optical axis of the tracking system. The rangefinder uses a new active target operating principle, including fiber-coupled transmitters attached to the pointer arm. The distance and angle measurement accuracies were measured to be better than ± 5 mm and ± 5 deg in the ranges of 2.3 to 4.7 &mum and ± 40 deg, respectively, using ordinary technology. The operating range is likely to be increased and the accuracy enhanced by using the latest state-of-the-art TOF rangefinding technique.

Paper Details

Date Published: 1 September 1995
PDF: 7 pages
Opt. Eng. 34(9) doi: 10.1117/12.208080
Published in: Optical Engineering Volume 34, Issue 9
Show Author Affiliations
Anssi Jaakko Maekynen, Univ. of Oulu (Finland)
Juha Tapio Kostamovaara, Univ. of Oulu (Finland)
Risto A. Myllylae, Technical Research Ctr. of Finland (Finland)

© SPIE. Terms of Use
Back to Top