Study on Three Dimensional Position and Displacement Measurements for Mobil Robot

美孚机器人三维位置与位移测量研究

• 批准号: 05650261
• 负责人: TAKAMASU Kiyoshi
• 金额: $ 1.47万
• 依托单位: The University Of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (C)
• 财政年份: 1993
• 资助国家: 日本
• 起止时间: 1993 至 1994
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-05650261/
• 关键词: Mobil Robot; Three Dimensional Position and Displacement; Coordinate Metrology; Optical Measurement; Calibration; 3次元計測; 位置計測; レーザ測長機

The aim of this survey is the development of precision measurement methods of two mades of positions and displacements for two dimensional and three dimensional mobile robots and manipulators. The research results of this survey as follows,1. A corner cube prism is used as the target of the two or three dimensional measurement. One laser interferometer is tracked on the corner cube by tracking mirrors and an optical feed back system. We found that the system is useful for the tracking of an absolute position of mobile robot.2. A spherical target is replaced as the corner cube prism to gain a wide measuring ranges. The new measuring system with the spherical target is developed and it is evaluated at its measuring range and measuring accuracy.3. The absolute type laser interferometer will be used for the spherical target to increase system flexibility. However, we did not develop the system with the absolute laser interferometer. This will be a task for further research.

本综述的目的是发展二维和三维移动的机器人和机械手的两种形式的位置和位移的精密测量方法。本次调查的研究结果如下：1.角隅棱镜被用作二维或三维测量的目标。其中一台激光干涉仪通过跟踪镜和光学反馈系统在角隅棱镜上跟踪。我们发现，该系统是有用的移动的机器人的绝对位置的跟踪.用球靶代替角锥棱镜，获得了较宽的测量范围。研制了球靶式测量系统，并对其测量范围和测量精度进行了评价.对于球靶采用绝对式激光干涉仪，增加了系统的灵活性。然而，我们并没有开发出具有绝对激光干涉仪的系统。这将是一个需要进一步研究的课题。

项目成果

R.Furutani: "Profile Measurement Using Multi-Gray Scale Patterns Projection" Proc.2nd Japan-France Cong.Mechatronics. 484-487 (1994)

R.Furutani：“使用多灰度图案投影进行轮廓测量”Proc.2nd Japan-France Cong.Mechatronics。

K.Takamasu: "Profile Measurements Using Multi-Gray Scale Pattern Projection" Proc.3rd Int.Symp.Meas.Technol.Intell.Instrum.1093-1099 (1993)

K.Takamasu：“使用多灰度图案投影进行轮廓测量”Proc.3rd Int.Symp.Meas.Technol.Intell.Instrum.1093-1099 (1993)

K.Takamasu: "Three Dimensional Position Sensor Using Optical Collimator for Nanometer Resolution" Proc.7th int.Prog.Precision Eng.62-65 (1993)

K.Takamasu：“使用光学准直器实现纳米分辨率的三维位置传感器”Proc.7th int.Prog.Precision Eng.62-65 (1993)

K.Takamasu: "Profile Measurements Using Multi-Gray Scale Pattern Projection" Proc.3rd Int.Symp. Meas.Technol. Intell.Instrum.1093-1099 (1993)

K.Takamasu：“使用多灰度图案投影进行轮廓测量”Proc.3rd Int.Symp。

Kiyoshi Takamasu: "Measurement System for Multiple Degrees of Freedom Moving Robot" Journal of Robotics and Mechatronics. 5. 453-456 (1993)

Kiyoshi Takamasu：“多自由度移动机器人的测量系统”机器人与机电一体化杂志。