Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Measurement Method for Fine 6-DOF Displacement of Rigid Bodies

강체의 6자유도 미소 변위 측정

  • Park, Won-Shik (Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Cho, Hyung-Suck (Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology)
  • 박원식 (한국과학기술원 기계공학과) ;
  • 조형석 (한국과학기술원 기계공학과)
  • Published : 2002.03.01
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Abstract

A novel measurement method to obtain the 6-DOF motions of arbitrary rigid bodies is proposed in this paper. The method adopts a specially fabricated mirror called 3-facet mirror, which looks like a triangular pyramid haying an equilateral cross-sectional shape. The mirror is mounted on the objects to be measured, illuminated by a laser beam having circular profile, and reflects the laser beam in three different directions. Three PSDs(position sensitive detector) detect the three beams reflected by the mirror, respectively. From the signals of the PSDs, we can calculate the 3-dimensional position and orientation of the 3-facet mirror, and thus enabling us to determine the 3-dimensional position and orientation of the objects. In this paper, we model the relationship between the 3-dimensional position and orientation of an object in motion and the outputs of three PSDs. A series of experiments are performed to demonstrate the effectiveness and accuracy of the proposed method. The experimental results show that the proposed sensing system can be an effective means of obtaining 3-dimensional position and orientation of arbitrary objects and provide resonable measurement accuracy.

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References

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