一种新型的挠性机械臂弹性偏差的激光测量装置

A laser Device for Measuring Elasticity Deviation of a New Type Flexible Mechanical Arm

描述了一种光学机械臂挠性偏差检测装置及其在多杆挠性机器人系统中的应用。该装置能实时检测挠性臂的空间结构偏差。因其结构简单，可避免杆件与光路的干涉。为挠性机器人系统反馈控制器的设计提供了一种很有价值的工具。

This paper describes an optical link deflection sensor and its application in a flexible multi-link robot system. This kind of measuring set-up can determine all spatial structural deflections of a flexible link in realtime,except the elongation of the link.Because its configulation is simple,the interference between link and light can be avoided. The measuring set-up provides a very promising tool for the design of the feedback controller of a flexible robot system.