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Proceedings Paper

Dual-position sensitive diode-based orientation measurement in laser-interferometry-based sensing and measurement technique
Author(s): Bijan Shirinzadeh; Pek Loo Teoh
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Paper 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.

Paper Details

Date Published: 4 October 2001
PDF: 9 pages
Proc. SPIE 4564, Optomechatronic Systems II, (4 October 2001); doi: 10.1117/12.444078
Show Author Affiliations
Bijan Shirinzadeh, Monash Univ. (Australia)
Pek Loo Teoh, Monash Univ. (Australia)

Published in SPIE Proceedings Vol. 4564:
Optomechatronic Systems II
Hyungsuck Cho, Editor(s)

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