A Macro/Micro Position Measurement System for a Miniature Robot

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  • Torii Akihiro
    Dept. of Electrical and Electronics Engineering, Aichi Institute of Technology
  • Inoue Toru
    Dept. of Electrical and Electronics Engineering, Aichi Institute of Technology
  • Doki Kae
    Dept. of Mechanical Engineering, Aichi Institute of Technology
  • Ueda Akiteru
    Dept. of Electrical and Electronics Engineering, Aichi Institute of Technology

Bibliographic Information

Other Title
  • ミニチュアロボット用マクロ·マイクロ位置計測システム
  • ミニチュアロボット用マクロ・マイクロ位置計測システム
  • ミニチュアロボットヨウ マクロ マイクロ イチ ケイソク システム

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Description

We report on a position measurement system for a mobile miniature robot using moving marks. Three lasers mounted on three linear stages are used as moving marks, and three position sensitive detectors (PSDs) are installed on the robot. The position of the miniature robot is measured by the laser position and the PSD output. The position of the lasers determines the macro position of the robot, and the output of the PSDs detects the micro displacement of the robot. By using the moving marks, the measurement system can avoid an obstacle on the laser beam path.

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