摘要
对PSD的误差来源及其补偿方法进行理论分析和实验研究;设计了基于PSD的三角法激光测距仪。测距仪安装在空间机器人的腕部,在机器人工作时对距离和机械手腕的位置与姿态进行检测,激光器发出的鲜亮的红色光斑可作为机器视觉的基准。
The errors and error compensation of PSD was studied in theory and practice, a laser range finder based on the principle of triangulation was designed, The range finder was mounted on the wrist of the space robot to find range and monitor the altitude and position of the wrist when working, the bright red light emitted by the lasers can also be used by the robot visual system as the datum.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2004年第16期1437-1439,共3页
China Mechanical Engineering
关键词
PSD
激光
三角法
测距仪
机器人
PSD(position sensitive detector)
laser
triangulation
range finder
robot
