sade@ireq.hydro.qc.ca (Jean Lessard) (08/15/90)
We are in the process of completing the installation of two
different laser range finders (one axis type) in our robotics lab. The
first one, having a working distance of 15 cm to 100 cm, with a field
of view of approx. 45 deg. and weighing 1.2 Kg, is intended to be
mounted on a PUMA-760 robot for telerobotics research applied to live
line maintenance and repair. The other one, more compact and with a
much smaller work distance, will be mounted on a custom designed 6 dof
robot which itself is mounted on a rail for turbine blade repair.
I am looking for information and/or references on:
1) Sensor positioning and mounting on the robot. I expect
difficulties with the sensor and wires causing limited robot
movements, etc.
2) Hand-Eye calibration algorithms for this type of sensor. Are
there any techniques developed to accurately link the sensor
reference frame to the robot reference frame? Any good practical
algorithms would be welcome.