By Topic

Measurement of 3-D position and orientation of a robot using ultrasonic waves

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Aoyagi, S. ; Fac. of Eng., Kanazawa Univ., Japan ; Okabe, S. ; Sasaki, K. ; Takano, M.

A system for measuring the 3-D position and orientation of a robot hand using ultrasonic waves is proposed. The principle is a triangulation using distances between transmitters attached to a robot and receivers placed around the robot's work space. An electric spark discharge which works as a nondirectional point source of ultrasound is used as a transmitter. This system is simple and economical compared with that using laser beams or light-emitting diodes. The accuracy is good because it measures distances directly from the transit time of an ultrasonic pulse. The relationship between the accuracy and the number of receivers is discussed, and the possibilities of automatic tracking of a moving transmitter are examined

Published in:

Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on

Date of Conference:

28 Oct-1 Nov 1991