一维光学位置传感器融合的非接触多自由度位姿测量系统  

Non-contact position and orientation measurement system used one dimensional optical position sensor fusion

作　　者：莫嘉嗣[1] 陈健欢 温远航 梁杰俊 陈秋烁 闫国琦[1] MO Jiasi;CHEN Jianhuan;WEN Yuanhang;LIANG Jiejun;CHEN Qiushuo;YAN Guoqi(College of Engineering,South China Agricultural University,Guangzhou 510642,China)

机构地区：[1]华南农业大学工程学院,广东广州510642

出　　处：《光学精密工程》2024年第3期344-356,共13页Optics and Precision Engineering

基　　金：广东省基础与应用基础研究基金资助项目(No.2020A1515110191);国家自然科学基金资助项目(No.52205266)。

摘　　要：为实现机器人末端位姿多自由度实时测量反馈,融合一维光学位置传感器(Position Sensitive Detector,PSD)建立了平面3自由度非接触测量系统,对其测量原理,信号处理电路,环境光干扰去除和非线性标定算法等进行研究。根据PSD传感器测量特性和平面3自由度测量要求设计了4-PSD测量系统,并建立测量系统数学模型。研究了PSD传感器的信号处理电路,通过运放和除法器实现了单个PSD的信号处理,结合单片机与A/DC采样电路,实现了上位机的高频率信号采集。对4-PSD测量系统进行预实验,为消除环境光干扰,通过激光调制和数字滤波等方法进行验证。最后,通过激光位移传感器标定4-PSD测量系统,介绍了4-PSD的标定步骤(原点、转角、长度和二阶非线性标定),测定了系统标定后的误差分布。该测量系统具有较高的测量频率(50 Hz)。标定实验结果表明:标定后的4-PSD测量系统在70 mm×70 mm内,测量精度平均为0.49 mm,比标定前降低了90%的误差,能满足大部分高速、高精度机器人末端的非接触式实时测量反馈需求。To achieve real⁃time,multi⁃degree⁃of⁃freedom measurement and feedback on the position and orientation of a robot's end⁃effector,a planar 3⁃DOF non⁃contact measurement system utilizing sensor fu⁃sion of a Position Sensitive Detector(PSD)was developed.The system's design involved studying the measurement principle,signal processing circuitry,ambient light interference mitigation,and a nonlinear calibration algorithm.Initially,a 4⁃PSD measurement system was tailored to the PSD sensor's measure⁃ment capabilities and the specific needs of planar 3⁃DOF measurement,establishing a mathematical model for the system.The PSD sensor's signal processing was then explored,achieving single PSD signal pro⁃cessing through an operational amplifier and divider,integrated with an MCU and A/D conversion chip for high⁃frequency signal acquisition on a PC.Preliminary tests of the 4⁃PSD system addressed ambient light interference using laser modulation and digital filtering techniques.Calibration of the 4⁃PSD system⁃com⁃prising origin,angle,length,and second⁃order nonlinear calibration-was conducted using a laser displace⁃ment sensor,detailing the calibration steps and post⁃calibration error distribution.The designed system boasts a high measurement frequency of 50 Hz,with calibration experiments indicating an average accura⁃cy of 0.49 mm within a 70 mm×70 mm range,achieving a 90%error reduction post⁃calibration.This sys⁃tem fulfills the majority of requirements for high⁃speed,high⁃precision,non⁃contact real⁃time measure⁃ment and feedback of robot end⁃effectors.

关 键 词：光学位置传感器 位姿测量 实时反馈 测量标定 

分 类 号：TH744[机械工程—光学工程]