Abstract：This paper introduces an economical optical system which can be used to measure the coordinates and pose of an object in Euclidean space. The main part of this system is a conical sensor. When a laser beam sweeps the sensor, the plane of the scanning beam intersects the conical body. The sensor can be mounted on the manipulator end-effecter, and the sensor coordinate system can be used as the coordinate system of the manipulator tip. Three laser beams at three fixed places sweep the sensor, and the coordinates and pose of the manipulator tip can be accurately measured.
1 Everett L J,Iyes T W.A Sensor Used for Measurements in the Calibration of Production Robots.IEEE Trans Robotics and Automation,1996,12(1):121～125 2 Hutchinson S,Hager G D,Cork e P I.A Tutorial on Visual Servo Control.IEEE Trans Robotics and Automation,1996,12(5):651～670 3 Hanger G D,Chang W C.Robot Hand-eye Coordination Based on Stereo Vision.IEEE Control System Magazin e,1995,15(1):30～39 4 Zhang Z,Luong Q,Faugeras O.Motion of an Uncalibration Stereo Rig:Self Calibration and Motion Reconstruction. IEEE Trans Robotics and Automation,1996,12(1):103～113 5 Grosso E,Metta G,Oddrea A,Sandini G.Robust Visual Servoing in 3-D Reaching Tasks.IEEE Trans Robotics and Automation,1996,12(5):732～742 6 Lau K L,Haynes s L,Hocken R.Robot Performance Measurements Using Automatic Laser Tracking Techniques. Robotics&Computer Integrated Manufact urin g,1985:227～236 7 Lau K,Hock en R J,Haight W.An Automatic Laser Tracking Inter ferometer System for Robot Metorlogy.NBS Report 8 Yen J Y,J eng C S,Fan K C.Servo Design for a 3-D Laser Tracking Measurement System.Trans ASME J Dynamic System,Measurement and Control,1996,118:476～481 9 Song D M.Self-calibration Technique for Active Vision Systems.IEEE Trans Robotics and Automation,1996,12(1):114～120 10 Zhang H K.Simultaneous Calibration of a Robot and a Handmounted Camera.IEEE Trans Robotics and Automation,1995,11(5):649～660 11 Li M,Lavest J M.Some Aspects of Zoom Lens Camera Calibration.IEEE Trans Pattern Analysis and Machine Intelligence,1996,18(11):1105～1109 12 Pugh A E dt.Robot Sensors.IFS Ltd,U K,Springer-verlag,Berlin,Heidelberg,New York,Tokyo,1986 13 Hashimoto K,Ebine T,Kimura H.Visual Servoing with Hand-eye Manipulator-optimal Control Approach.IEEE Trans Robotics and Automation,1996,12(5):766～774 14 Khadraoui D,Motyi G,Martinet P,Gallice J,Chaumette F.Visual Servoing in Robotics Scheme Using a Camera/ laser-strip Sensor.IEEE Trans Robotics and Automation,1996,12(5):743～749 15 Hall E L,Tio J B K,McPhers on C A,Sadiaki F A.Measuring Curved Surfaces for Robot Vision.Computer IEEE De-cember,1982:42～54 16 Jarvis R A.A Perspective on Range Finding Techniques for Computer Vision.Pattern Analysis and Machine Intelligence,1983,5(2)
