Mathias Björk, u96835 AUTO3160 OPTICS. * Introduction to Robotics * Robotic applications *...
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Transcript of Mathias Björk, u96835 AUTO3160 OPTICS. * Introduction to Robotics * Robotic applications *...
Mathias Björk, u96835
AUTO3160 OPTICS
*Optics in Robotics
*Contents
*Introduction to Robotics
*Robotic applications
*Components
*Robotic Vision / Optics
*Camera vision
*Laser positioning systems
*Fiber Optic Gyroscope
*Introduction to robotics
*Design
*Structural appearance
*Operation
*Control system
*Limits
*Construction
*Manufacturing
*Operation
*Testing
Are all r
obots
killer r
obots th
at
want to ta
ke over
the w
orld?
*Robotic applications
Military applications- Recon missions- Surveillance- Enemy termination- Mine locating
Industrial applications- Packaging- Arc welding- Soldering- Assembly- Measurements
Medical applications- Surgery- Health monitoring
*Components
*Actuators (muscles)
*Electric motors
*Linear actuators (pneumatic, electric, hydraulic)
*Air muscles
*Piezo motors
*Sensors (senses)
*Touch (preassure)
*Vision
*Hearing
*Elevation
*Robotic vision
*Robotic vision
*Camera vision (visible spektrum, infra-red, heat)
*Laser scanning systems
*SONAR (Sound navigation and ranging)
*Camera vision
SwissRanger 4000 3D Camera
Range: 0.1-10.0 mField 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++, MatlabAngular resolution: 0.39ºCalibration: AutomaticAcquisition modes: Continuous & Triggered
http://www.youtube.com/watch?v=CIZCya7KBUQhttp://www.youtube.com/watch?v=nHE9LFphg0g&feature=related
*Camera Vision
*Laser Vision
SICK LD-OEM1000 to 5100Laser 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: IndoorTransmission: Serial (4800 Bd -> 115200 Bd)
CanBus (10 kBit/s -> 1MBit/s)
Ethernet (10 Mbit/s)Software: SICK SOPAS ETAngular resolution: 0.125º - 1.5º
*Laser Vision
*360 degrees horizontal plane
*4 evaluation fields of different shapes
*Mirror tape can be used
*Laser Vision
*Fiber Optic Gyroscope
*Angular velocity detection
*5 km optical fiber
*Using the interference of light to detect mechanical rotation (Sagnac effect)
*Phase shift is defined by:
*Questions?