一种新型非接触位姿检测系统研究

New system of non-contact pose measurement

提出一种基于位置敏感探测器(简称PSD)多光束同步检测技术的位姿检测新方法,采用两个二维PSD从不同角度同时测量出目标物体上多个特征点的二维坐标,然后通过坐标变换计算得到各点的三维空间坐标;根据位姿变化前后的各点空间坐标,采用比较简单的算法计算出目标物体的位姿参数。通过算例验证该方法是可行的;由初步的实验获得目标物体的位姿参数,最大平移误差为1.0574mm,最大旋转误差为0.2851rad,需要通过多种途径进一步提高系统的检测精度。

A new method based on detecting synchronously multiple light beams of Position Sensitive Detector （PSD） was presented in this paper. 2-D position coordinates of multiple representative points on a target were detected synchronously by two 2-D PSDs from different orientations, and then 3-D spatial coordinates were obtained with coordinate transform .The pose parameters of target could be figured out by easier algorithm through the fore-and-aft spatial coordinates of multiple representative points of pose change. The feasibility of this method was validated by illustration. The pose parameters of target are gotten through the primary experiments. The maximal error of displacement is 1.0574mm, and the maximal error of rotation angle is 0.2851rad, Therefore, the measurement precision of system needs to be improved further,through some techniques.