Design and Implementation of Optical Image Measurement for Three-DOF Planar Motion

• Main Authors: Li-Ying Wu, 吳立英
• Other Authors: Shyr-Long Jeng
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/29485373953764439854

碩士 === 大華技術學院 === 機電研究所 === 96 === A novel optical system consisting of a pair of laser motion sensors attached on a rigid body being capable of measuring 3-DOF planar motion is proposed in this thesis. Such device may be used in the domain of in-door AGV (automatic guided vehicle) applications, associated with the known GPS equipment this device can promote the positioning accuracy of AGV up to within 5 mm according to our experimental result. The nonlinear mapping function between the 3-DOF displacements and the incremental displacements measured by the optical sensors are discussed. Four mathematical algorithms are introduced to analyze the planar motion by means of minimizing the squared displacement errors between the estimation and measurement. The results are presented and validated through the simulations and experiments. Subjected to a circular trajectory testing which includes a self-orientation, the analytical solution achieved by the linear approximation of the algorithm #1 yields apparently motion errors. Algorithm #2 and #4 can evaluate better circular trajectory data and present less motion errors, which are considered useful in future applications.