Position and Pose Measurement of Cylinder-like Object Based on Virtual Pole Mechanism

doi:10.3969/j.issn.1000-1093.2014.06.020

Abstract

Abstract: A mechanism, which uses a digital pan-tilt and a beam from laser rangefinding sensor as virtual pole to measure the position and pose of cylinder-like object, is presented. The structure, constitution and measuring principle of the mechanism are described in detail. Calculation method and formulas are also given. The position and pose of an ammunition can be synchronously measured using the given mechanism and algorithm if the positions of two points in space are known. The mechanism can be used for explosive ordnance disposal robot for the position and pose measurement of ammunition. The measured data can be used to guide the route planning and autonomous movement of robot arm.

Key words: control science and technology, explosive ordnance disposal robot, position, pose, laser rangefinding sensor, digital pan-tilt

CLC Number:

LUO Lei, CHEN Ken, MA Zhen-shu, MU Xi-hui. Position and Pose Measurement of Cylinder-like Object Based on Virtual Pole Mechanism[J]. Acta Armamentarii, 2014, 35(6): 885-890.

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