| 基于PSD的激光测距仪及其在空间机器人上的应用 |
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| 引用本文： | 谭定忠,王启明,高安礼,李金山,李琳.基于PSD的激光测距仪及其在空间机器人上的应用[J].中国机械工程,2004,15(16):1437-1439. |
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| 作者姓名： | 谭定忠 王启明 高安礼 李金山 李琳 |
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| 作者单位： | 哈尔滨工程大学机电工程学院,哈尔滨,150001 |
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| 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.
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| 关 键 词： | PSD 激光 三角法 测距仪 机器人 |
| 文章编号： | 1004-132X(2004)16-1437-03 |
| 修稿时间： | 2003年7月29日 |
Laser Range Finder Using PSD and Its Applications to Space Robot |
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| Tan Dingzhong Wang Qiming Gao Anli Li Jinshan Li Lin Harbin Engineering University,Harbin.Laser Range Finder Using PSD and Its Applications to Space Robot[J].China Mechanical Engineering,2004,15(16):1437-1439. |
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| Authors: | Tan Dingzhong Wang Qiming Gao Anli Li Jinshan Li Lin Harbin Engineering University Harbin |
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| Affiliation: | Tan Dingzhong Wang Qiming Gao Anli Li Jinshan Li Lin Harbin Engineering University,Harbin,150001 |
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| Abstract: | 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. |
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| Keywords: | PSD(position sensitive detector) laser triangulation range finder robot |
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