Measurement of 6-DOF displacement of rigid bodies through splitting a laser beam: experimental investigation

Won Shik Park; Hyungsuck Cho; Yong-Kyu Byun; Noh Yeol Park

doi:10.1117/12.417236

12 February 2001 Measurement of 6-DOF displacement of rigid bodies through splitting a laser beam: experimental investigation

Won Shik Park, Hyungsuck Cho, Yong-Kyu Byun, Noh Yeol Park

Author Affiliations +

Proceedings Volume 4190, Optomechatronic Systems; (2001) https://doi.org/10.1117/12.417236
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

12 In this paper, a new measuring system is proposed which can measure 6-DOF motion of rigid bodies. Its measurement principle is based on detection of laser beam reflected from a specially fabricated mirror whose shape is a triangular pyramid having an equilateral cross-sectional shape. The 3- facet mirror is mounted on the object whose 6-DOF displacement is to be measured. The measurement is operated by a laser-based optical system composed of a 3-facet mirror, a laser source, three position-sensitive detectors (PSD). In the sensor system, three PSDs are located at three corner points of a triangular formation, which is an equilateral triangular formation lying parallel to the reference plane. From this arrangement, 6-DOF displacement of any object can be simply determined. In this paper, we model the relationship between the 6-DOF displacement of the object and the outputs of three PSDs. A series of experiments is performed to demonstrate the effectiveness of the proposed method. The experimental results show that the proposed sensing system can be an effective means of obtaining 3D position and orientation of arbitrary objects.

Citation Download Citation

Won Shik Park, Hyungsuck Cho, Yong-Kyu Byun, and Noh Yeol Park "Measurement of 6-DOF displacement of rigid bodies through splitting a laser beam: experimental investigation", Proc. SPIE 4190, Optomechatronic Systems, (12 February 2001); https://doi.org/10.1117/12.417236

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