Measurement of fine 6-degrees-of-freedom displacement of rigid bodies through splitting a laser beam: experimental investigation

Abstract

Abstract.A new measuring system is proposed that can measure the motions of arbitrary rigid bodies moving in 6 degrees of freedom. The measurement principle is based on the detection of laser beams reflected from a specially fabricated three-facet mirror that looks like a triangular pyramid having an equilateral cross-sectional shape. The mirror is mounted on the object to be measured. It reflects a laser beam, generated from a source, in three different directions, depending on the motion of the object of interest. The reflected beam is then detected by three position-sensitive detectors (PSDs). From the signals of the PSDs, we can calculate the 3-D position and orientation of the three-facet mirror, thus enabling us to determine the 3-D position and orientation of the object. We model the relationship between the 3-D 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-D position and orientation of arbitrary objects and provides reasonable measurement accuracy.

Large Lateral Photovoltaic Effect in Metal-(Oxide-)Semiconductor Structures

“…The main area of application of PSDs is in precision optical alignment, such as biomedical applications, robotics, process control, medical instrumentation, and position information systems [36–39]. Other attractive applications include surface profiling, rotation monitoring, telephone information systems, angle measurements, triangulation-based distance sensors, guidance systems and roles where precise automated control is required [40–43].…”

Measurement of three-dimensional rotational and translational displacements using a multifaceted mirror

“…Figure 2 shows a situation, in which a subbeam reflected from M a impinges on PSD A to form a spot resembling a piece of pie, a P . In the figure, the dotted ellipse a L is the imaginary cross-section of the laser beam as if the laser beam were not split by the three-facet mirror but normally reflected by a planar mirror whose pose is the same as that of including a R , a Q and a S are referred to the previous literature [5,6].…”

Speed Control of a Sonar-Based Mobile Robot by Considering the Limitation of Accelerated Velocity

“…In particular, the system cannot recognize slanted walls in front of it. We use a position sensitive detector (PSD) (15), (16) to compensate for the shortcomings of the proposed system. As described in Ref.…”