Mechanism Design Method for Obtaining a Cylinder-Like Objects Pose and Position

Abstract:

The measurement of pose and position is the key technology for Explosive Ordnance Disposal (EOD) robots intelligence level. This paper presents a mechanism which using a laser distance sensor (LDS) to measure a cylinder-like objects pose and position. The mechanisms structure, constitution and measure principle are described in details. Calculation method and formulas are also given. Only two points position is needed to measure an ammunitions pose and position synchronously by the given mechanism and algorithm. Satisfied precision could be achieved by applying the mechanism and stereo vision to Explosive Ordnance Disposal robot to recognize ammunitions pose and position. The measure data can be used to guide the robot arms route planning and autonomously movement.

• Periodical: Advanced Materials Research (Volumes 945-949)
• Pages: 1348-1352
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.945-949.1348
• Online since: June 2014
• Authors: Lei Luo, Ken Chen, Jian Hua Chen
• Keywords: EOD (Explosive Ordnance Disposal) Robot, LDS(Laser Distance Sensor), Pose and Position, Stereo Vision

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