Distance measurement with reflectance sensors

Abstract

Compact optical sensors for distance measurement based on the collection of light reflected from an object offer certain advantages for application in robotics and other areas. However, they are subject to a number of effects which can significantly degrade their accuracy in practice. This paper describes an ongoing research program in which the performance of such sensors is being investigated. Particular emphasis is on systems in which optical fibers are used to conduct light from a remote source to a robot end effector and the reflected light back to a detector.Compact optical sensors for distance measurement based on the collection of light reflected from an object offer certain advantages for application in robotics and other areas. However, they are subject to a number of effects which can significantly degrade their accuracy in practice. This paper describes an ongoing research program in which the performance of such sensors is being investigated. Particular emphasis is on systems in which optical fibers are used to conduct light from a remote source to a robot end effector and the reflected light back to a detector.