Study on Three Dimensional Position and Displacement Measurements for Mobil Robot

本调查的目的是为二维和三维移动机器人和操纵器的位置和位移的两种精密测量方法的发展。本调查的研究结果如下：采用角立方棱镜作为二维或三维测量的目标。一个激光干涉仪通过跟踪镜和光学反馈系统跟踪在角立方上。结果表明，该系统可用于移动机器人的绝对位置跟踪。将球面目标替换为角立方棱镜，以获得较宽的测量范围。研制了新型球面目标测量系统，并对其测量范围和测量精度进行了评价。球形目标将采用绝对型激光干涉仪，以增加系统的灵活性。但是，我们并没有采用绝对激光干涉仪来研制该系统。这将是一个需要进一步研究的课题。

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.