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End-effector position-orientation measurement

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2 Author(s)
Jing Yuan ; Dept. of Mech. Eng., Hong Kong Polytech., Kowloon, Hong Kong ; S. L. Yu

A low-cost device is presented for noncontact measurement of robot position and orientation. It consists of an optical sensor and three laser scanners. The sensor is attached to the end-effector while the laser scanners cast light planes to trace the sensor movement. The device measures equations of the light planes from which end-effector position and orientation are obtained. Accurate measurement is achieved in a three-DOF experiment

Published in:

IEEE Transactions on Robotics and Automation  (Volume:15 ,  Issue: 3 )