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3D laser-based sensor for robotics

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4 Author(s)
Marques, L. ; Dept. of Electr. Eng., Coimbra Univ., Portugal ; Moita, F. ; Nunes, U. ; Traca de Almeida, A.

The paper presents the analysis and design of a distance and orientation sensor based on the triangulation principle, using three laser diodes and a position sensitive detector (PSD). A 16-bit microcontroller controls the acquisition and the lasers, processes the data and integrates the sensor in a distributed sensor network (DSN). A DSP based processing system gathers the multisensor data, for real-time control of a PUMA 560 robot manipulator through the DSN network. A sensor model based on theoretical and experimental results is emphasized

Published in:

Electrotechnical Conference, 1994. Proceedings., 7th Mediterranean

Date of Conference:

12-14 Apr 1994

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