对机械手定位的全相位傅里叶变换相位式激光测距系统  

Phase Laser Ranging System Based on All-Phase Fourier Transform for Manipulator Positioning

作　　者：詹道桦 王晗[1] 林健 钟辉宇 潘艺良 陈桪 Zhan Daohua;Wang Han;Lin Jian;Zhong Huiyu;Pan Yiliang;Chen Xun(School of Mechanical and Electrical Engineering,Guangdong University of Technology,Guangzhou 510006,Guangdong,China)

机构地区：[1]广东工业大学机电工程学院,广东广州510006

出　　处：《激光与光电子学进展》2023年第5期125-130,共6页Laser & Optoelectronics Progress

基　　金：国家自然科学基金(62171142);广东省自然科学基金(2021A1515011908)。

摘　　要：针对机械手中用于标定以及空间定位的激光测距装置测距精度不足、容易受工作环境等因素的影响,进而导致测量不准确,影响机械手空间标定以及定位的缺点,提出了一种基于全相位傅里叶变换(apFFT)的相位式激光测距系统。该系统采用apFFT算法来进行鉴相,进而得出实时测量的距离。相比于传统的基于傅里叶变换的相位式激光测距方法,该方法能够有效抑制实际应用中由于多种因素导致的频谱泄露现象。实验结果表明,该系统具有良好的稳定性和抑制频谱泄露能力,同时该系统的平均定位精度可以达到1 mm,满足实际工业生产制造的需求。Laser distance measurement devices used for the space calibration and positioning of manipulators are easily affected by factors such as the work environment owing to their insufficient ranging accuracies.This leads to inaccurate measurements and shortcomings in the space calibration and positioning of manipulators.This article presents a phase laser ranging system based on the allphase Fourier transform(apFFT).The proposed system uses the apFFT algorithm for phase discrimination and obtains the realtime measured distance.Compared with the Fouriertransformbased traditional phase laser ranging method,the proposed method can effectively suppress the spectrum leakage caused by various factors in practical applications.The experimental results reveal that the system exhibits good stability and can suppress spectrum leakage.Furthermore,the average positioning accuracy of the proposed system can reach 1 mm,which satisfies the requirements of actual industrial manufacturing.

关 键 词：仪器 测量与计量 相位式激光测距仪 频谱泄露 全相位傅里叶变换 

分 类 号：TH711[机械工程—测试计量技术及仪器]