Non-contact position and orientation measurement system used one dimensional optical position sensor fusion

被引：0
作者：
Mo J. [1 ]
Chen J. [1 ]
Wen Y. [1 ]
Liang J. [1 ]
Chen Q. [1 ]
Yan G. [1 ]
机构：
[1] College of Engineering, South China Agricultural University, Guangzhou
来源：
Guangxue Jingmi Gongcheng/Optics and Precision Engineering | 2024年 / 32卷 / 03期
关键词：
calibration; measurement; position and orientation measurement; Position Sensitive Detector（PSD）sensor; real-time feedback;
D O I：
10.37188/OPE.20243203.0344
中图分类号：
学科分类号：
摘要：
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. © 2024 Chinese Academy of Sciences. All rights reserved.
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页码：344 / 356
页数：12
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