Optics in Robotics

deadmancrossingraceAI and Robotics

Nov 13, 2013 (3 years and 11 months ago)

72 views

Mathias Björk, u96835

AUTO3160 OPTICS

*
*
*
Introduction to Robotics

*
Robotic applications

*
Components

*
Robotic Vision / Optics

*
Camera vision

*
Laser positioning systems

*
Fiber
Optic

Gyroscope




*
*
Design

*
Structural appearance

*
Operation

*
Control system

*
Limits

*
Construction

*
Manufacturing

*
Operation

*
Testing


*
Military applications


-

Recon missions


-

Surveillance


-

Enemy termination


-

Mine locating

Industrial applications


-

Packaging


-

Arc welding


-

Soldering


-

Assembly


-

Measurements

Medical applications


-

Surgery


-

Health monitoring

*
*
Actuators

(
muscles
)

*
Electric motors

*
Linear

actuators

(
pneumatic
,

electric
,
hydraulic
)

*
Air
muscles

*
Piezo

motors

*
Sensors (
senses
)

*
Touch (preassure)

*
Vision

*
Hearing

*
Elevation


*
*
*
Camera vision
(
visible

spektrum, infra
-
red, heat)

*
Laser scanning systems

*
SONAR (Sound navigation and
ranging
)



*
SwissRanger

4000 3D Camera


Range:



0.1
-
10.0 m

Field

of

View
:


69º (h) x 56º (v)

Illumination
wavelength
:

850
nm

Max
frame

rate:


50 FPS

Pixel Array
Size
:


176 (h) x 144 (v)

Environment:


Indoor

Connectors
:


UBS, Ethernet

Cooling
:



Passive

Software:


C, C++,
Matlab

Angular

resolution:

0.39º

Calibration
:


Automatic

Acquisition

modes:

Continuous

& Triggered

http://www.youtube.com/watch?v=CIZCya7KBUQ

http://www.youtube.com/watch?v=nHE9LFphg0g&feature=related

*
*
SICK LD
-
OEM1000
to

5100

Laser
Measurement

System


Range:



0.5
-
35 m | 0.5
-
50 m |

Field

of

View
:


360º (h)

Illumination
wavelength
:

905
nm

(infrared)

Scanning
frequency
:

5
-
15 Hz

Environment:


Indoor

Transmission:


Serial

(4800 Bd
-
> 115200 Bd)




CanBus

(10
kBit
/s
-
> 1MBit/s)




Ethernet (10 Mbit/s)

Software:


SICK SOPAS ET

Angular

resolution:

0.125º
-

1.5º

*
*
360
degrees

horizontal

plane

*
4
evaluation

fields

of

different
shapes

*
Mirror

tape
can

be
used




*
*
*
Angular

velocity

detection

*
5 km
optical

fiber

*
Using

the
interference

of

light

to

detect

mechanical

rotation (
Sagnac

effect
)

*
Phase

shift

is
defined

by:

*