Dual-position sensitive diode-based orientation measurement in laser-interferometry-based sensing and measurement technique

摘要

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.