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An electrooptical orientation sensor for robotics

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4 Author(s)
Partaatmadja, O. ; Dept. of Mech. Eng., Toronto Univ., Ont., Canada ; Benhabib, B. ; Sun, A. ; Goldenberg, A.A.

The design and analysis of a noncontact electrooptical orientation sensor is addressed. The sensor is based on the intensity measurement of modulated light signals reflected from the surface of an object. The experimental setup of the sensor used in this research was designed and manufactured such that two mechanical-design parameters could be investigated. The operation principle of the 1D inclination-angle measurement sensor was verified using the experimental setup as well as through simulation. Experiments undertaken yielded an optimal sensor design that can effectively operate within a range from +20° to -20° independent of its distance from the object (within the operational-distance range of the sensor)

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Robotics and Automation, IEEE Transactions on  (Volume:8 ,  Issue: 1 )