机器人Issue(5)：519-526,534,9.DOI:10.13973/j.cnki.robot.2014.0519
用于机械臂末端感知的激光测距传感器设计
Design of a Laser Range Finder for End Perception of Robot Arm
摘要
Abstract
In order to improve the operation and the end perception abilities of light-weight robot arm, a micro laser range finder is developed, which is highly integrated with a wide range and a shorter minimum measurement range. The range finder is designed based on the triangulation ranging theory. It adopts the linear CCD (charge-coupled device) as the light sensor, and the FPGA (field-programmable gate array) as the main controller chip, and the optical system of the sensor is designed according to the distribution requirements of the resolution. Thus, the range finder has a wide measurement range, a shorter minimum measurement range and a high measuring speed. To realize the high integration and miniaturization design, the range finder utilizes the design concept of the optics, mechanism and electricity unitization, which adopts the flexible and foldable PCB (printed circuit board) circuit, miniature optics units and miniature mechanical packaging. The measuring range of the range finder is 25 mm~350 mm, size is 47 mm×50 mm ×15 mm, mass is 70 g and the measuring time is 1 ms. The experimental results show that the laser range finder is easy to be integrated in the robot arm control system and suitable for end perception, and improves the light-weight robot arm end positioning accuracy.关键词
机械臂/末端感知/激光测距传感器/激光三角法Key words
robot arm/end perception/laser range finder/laser triangulation分类
信息技术与安全科学引用本文复制引用
张禹,孙奎,张元飞,刘宏,朱万彬..用于机械臂末端感知的激光测距传感器设计[J].机器人,2014,(5):519-526,534,9.基金项目
国家973计划资助项目（2013CB733103）． （）
