| 摘要 |
PROBLEM TO BE SOLVED: To solve the following problem of an attitude sensor which used to be used in a joint section of a robot: since its measurable parameters are limited and other coordinate transformation parameters are ignored, an error at an end part becomes an impermissible value if the number of joint sections increases. SOLUTION: This sensor is composed of a group of laser light sources fixed to one rigid body of a joint section to emit three or more beams of light linear and independent mutually, an area sensor such as a CCD fixed to the other rigid body to receive the beams of light, and an arithmetic unit for computing coordinate transformation parameters from the coordinates of light receiving points on the area sensor. Thereby, all coordinate transformation parameters can be measured by one sensor with high accuracy. High-accuracy parameter measurement becomes possible by providing a movable half mirror which rotates around two orthogonal axes in front of the area sensor, and measuring the rotation angle of the half mirror and variations of beams reflected by the half mirror from reference values. COPYRIGHT: (C)2009,JPO&INPIT
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