AUTO3160 OPTICS Optics in Robotics Contents Introduction to Robotics Robotic applications Components Robotic Vision Optics Camera vision Laser positioning systems Fiber Optic Gyroscope ID: 355134
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Slide1
Mathias Björk, u96835AUTO3160 OPTICS
Optics
in
RoboticsSlide2
Contents
Introduction to Robotics
Robotic applications
Components
Robotic Vision / Optics
Camera vision
Laser positioning systems
Fiber
Optic
GyroscopeSlide3
Introduction to robotics
Design
Structural appearance
Operation
Control system
Limits
Construction
ManufacturingOperationTesting
Are
all robots killer robots
that
want
to
take
over the
world
?Slide4
Robotic applications
Military applications
- Recon missions
- Surveillance
- Enemy termination
- Mine locating
Industrial applications
- Packaging
- Arc welding
- Soldering
- Assembly
- Measurements
Medical applications
- Surgery
- Health monitoringSlide5
Components
Actuators
(
muscles
)Electric motors
Linear actuators (pneumatic, electric, hydraulic)Air musclesPiezo
motorsSensors (senses)
Touch (preassure)VisionHearingElevationSlide6
Robotic visionSlide7
Robotic vision
Camera vision
(
visible
spektrum, infra-red, heat)Laser scanning systems
SONAR (Sound navigation and ranging)Slide8
Camera vision
SwissRanger
4000 3D Camera
Range: 0.1-10.0 m
Field
of View
: 69º (h) x 56º (v)Illumination wavelength
: 850 nmMax frame rate: 50 FPSPixel Array Size: 176 (h) x 144 (v)Environment: IndoorConnectors: UBS, EthernetCooling: PassiveSoftware: C, C++,
Matlab
Angular
resolution: 0.39
º
Calibration
: Automatic
Acquisition modes: Continuous & Triggeredhttp://www.youtube.com/watch?v=CIZCya7KBUQ
http://www.youtube.com/watch?v=nHE9LFphg0g&feature=relatedSlide9
Camera VisionSlide10
Laser Vision
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 HzEnvironment: Indoor
Transmission: Serial (4800 Bd -> 115200 Bd) CanBus (10 kBit/s -> 1MBit/s) Ethernet (10 Mbit/s)Software: SICK SOPAS ETAngular resolution: 0.125º - 1.5ºSlide11
Laser Vision
360
degrees
horizontal
plane
4
evaluation
fields
of
different
shapes
Mirror
tape
can
be
usedSlide12
Laser VisionSlide13
Fiber Optic
Gyroscope
Angular
velocity
detection5 km optical fiberUsing the interference of light to
detect mechanical rotation (
Sagnac effect)Phase shift is defined by:Slide14
Questions?