Study on Three Dimensional Position and Displacement Measurements for Mobil Robot

这项调查的目的是发展二维和三维移动机器人和机械手的位置和位移的两个刀位的精密测量方法。本研究的研究成果如下：1.采用角锥棱镜作为二维或三维测量的对象。一个激光干涉仪通过跟踪镜和光学反馈系统跟踪在角锥体上。我们发现，该系统对于移动机器人的绝对位置跟踪是有用的。采用球面靶体代替角锥棱镜，获得了较大的测量范围。研制了球面靶测量系统，并从测量范围和测量精度两个方面进行了评价。为了增加系统的灵活性，球面靶将采用绝对式激光干涉仪。然而，我们没有开发出使用绝对激光干涉仪的系统。这将是一个有待进一步研究的任务。

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.