学术论文

      基于三维激光扫描仪测距传感器的机械臂末端位姿测量

      Robot Arm End Pose Measurement Based on 3D Laser Scanner Distance Sensor

      摘要:
      机械臂可以较准确地完成各项空间任务,其正常工作的前提是精确检测到目标位置.当距离目标较远时,就需要采用雷达、视觉、传感器等方式对目标进行检测.但距离目标较近时,传统测量方法的精度和稳定性较差.设计了一种精度较高的近距离实时测距激光传感器.并利用机械臂末端三点激光测距传感器对平面位姿进行测量.研究表明,设计的激光测距传感器可以高精度的完成任务,满足机械臂对目标进行检测的要求.
      Abstract:
      Robot arm can be more accurate to complete the tasks of the space;the normal work of the premise is to accurately detect the target location.When the distance far from the target ,radar,vision,sensors and other methods were needed to be used to detect the target .However ,the accuracy and stability of the traditional measurement methods are poor when the distance to the tar -get is near .A kind of laser sensor with high precision was designed .And the three point laser range sensor was used to measure the position and orientation of the robot arm .The research shows that the laser distance sensor designed in this paper can finish the task with high precision ,and can meet the requirements of the robot arm to detect the target .
      作者: 张爱琳 李璐
      Author: ZHANG Ai-lin LI Lu
      作者单位: 内蒙古科技大学建筑与土木工程学院,内蒙古包头,014010
      刊 名: 仪表技术与传感器 ISTICPKU
      年,卷(期): 2017, (1)
      分类号: TP242
      在线出版日期: 2017年3月31日
      基金项目: 国家自然科学基金项目