High precision PSD guided robot localization: Design, mapping, and position control
文献类型：会议论文
| 作者 | Blank, Sebastian; Shen, Yantao; Zhang, Chi; Wejinya, Uchechukwu C. |
| 出版日期 | 2007 |
| 会议日期 | October 29 - November 2, 2007 |
| 会议地点 | San Diego, CA |
| 页码 | 52-57 |
| 英文摘要 | This paper introduces our recently developed high precision robot localization system employing position sensitive detectors (PSD). A lateral effect PSD is an ideal position sensitive device with a resolution of approx. 0.5μm. Such a device can be used to enhance the precision capabilities of robot localization or robot calibration. The developed PSD guided localization system is comprised of a structured laser pointer system attached to the robot end-effector and a PSD fixture. It is capable of feeding back the movement information of the TCP relative to the PSD frame. This is achieved by detecting the position of the laser beams emitted from the laser pointers onto the PSD surface. The system was well designed, mapped, and constructed and hence allows it to perform precision localization of the robot. Simulations and preliminary experiments demonstrated the effectiveness of the developed PSD guided localization system including hardware, software, and algorithms. Therefore, it is capable of improving the localization performance of robots as well as promoting the application of precision robot calibration. |
| 源文献作者 | IEEE, RSJ |
| 产权排序 | 3 |
| 会议录 | 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-0911-2 |
| WOS记录号 | WOS:000254073200009 |
| 源URL | [http://ir.sia.cn/handle/173321/20025]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Blank, Sebastian |
| 作者单位 | 1.Dept. of Computer Sciences, University of Kaiserslautern, Germany 2.Shenyang Institute of Automation, Chinese Academy of Science, China 3.Department of Electrical and Computer Engineering, Michigan State University |
| 推荐引用方式 GB/T 7714 | Blank, Sebastian,Shen, Yantao,Zhang, Chi,et al. High precision PSD guided robot localization: Design, mapping, and position control[C]. 见:. San Diego, CA. October 29 - November 2, 2007. |
入库方式： OAI收割
来源：沈阳自动化研究所
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