• Journal of Institute of Control, Robotics and Systems
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• v.8 no.3
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• pp.208-219
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• 2002

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.

• Journal of Korean Society of Steel Construction
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• v.13 no.4
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• pp.327-335
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• 2001

The characteristics and production mechanism of residual stress generated by multi-pass welding of the steel pipe were elucidated from the results of three-dimensional thermal elastic-plastic FEM analysis. When the steel pipe was jointed by multi-pass welding, the stress components of circumferential direction and radial direction near welded joints on the inner surface and the outer surface of the pope were tensile. The stress component of axial direction on the inner surface was tensile and on the outer surface was compressive. On the other hands, the production mechanism of residual stress generated by multi-pass welding of the steel pipe was investigated. Residual stress generated by welding of the steel pipe was investigated not only by the thermal history but also by geometrical shape. Then, the generality of the production mechanism of residual stress generated by multi-pass welding was confirmed.