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IROS
2007
IEEE

High precision PSD guided robot localization: Design, mapping, and position control

10 years 9 months ago
High precision PSD guided robot localization: Design, mapping, and position control
— This paper introduces our recently developed high precision robot localization system employing position sensitive detectors (PSD). A lateral effect PSD is an ideal position sensitive device with a resolution of approx. 0.5µm. Such a device can be used to enhance the precision capabilities of robot localization or robot calibration. The developed PSD guided localization system is comprised of a structured laser pointer system attached to the robot end-effector and a PSD fixture. It is capable of feeding back the movement information of the TCP relative to the PSD frame. This is achieved by detecting the position of the laser beams emitted from the laser pointers onto the PSD surface. The system was well designed, mapped, and constructed and hence allows it to perform precision localization of the robot. Simulations and preliminary experiments demonstrated the effectiveness of the developed PSD guided localization system including hardware, software, and algorithms. Therefore, it ...
S. Blank, Yantao Shen, Ning Xi, Chi Zhang, Uchechu
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where IROS
Authors S. Blank, Yantao Shen, Ning Xi, Chi Zhang, Uchechukwu C. Wejinya
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