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Proceedings Paper

Proportional proximity sensing for telerobots using coherent laser radar
Author(s): Sixto L. Vazquez; Plesent W. Goode; Anthony R. Slotwinski
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Paper Abstract

The ability of a telerobotic manipulator to operate in confined spaces while avoiding unwanted collisions is enhanced by the accurate sensing of its proximate environment. To achieve the fidelity required for precise manipulator control, a proportional proximity sensor system with a sufficiently large measurement envelope is required. Current proximity sensors provide a binary indication of the presence of obstacles within a small envelope with coarse or no proportional measurement of their location. A proportional proximity sensor system configured as a Frequency Modulated Continuous Wave (FMCW) Coherent Laser Radar (CLR) using a semiconductor laser as the energy source is described and analyzed. The source and reflected energies mix coherently to generate a radio frequency (RF) signal whose frequency is proportional to the range. The system is tested for accuracy, range, depth of range, speed, and sensitivity and the results are presented. Techniques to derive orientation information and an application to telerobotic control are also described.

Paper Details

Date Published: 1 November 1992
PDF: 11 pages
Proc. SPIE 1829, Cooperative Intelligent Robotics in Space III, (1 November 1992); doi: 10.1117/12.131684
Show Author Affiliations
Sixto L. Vazquez, NASA Langley Research Ctr. (United States)
Plesent W. Goode, NASA Langley Research Ctr. (United States)
Anthony R. Slotwinski, Coleman Research Corp. (United States)

Published in SPIE Proceedings Vol. 1829:
Cooperative Intelligent Robotics in Space III
Jon D. Erickson, Editor(s)

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