Abstract
When related to a single and good contrast object or a laser spot, position sensing, or sensitive, detectors (PSDs) have a series of advantages over the classical camera sensors, including a good positioning accuracy for a fast response time and very simple signal conditioning circuits. To test the performance of this kind of sensor for microrobotics, we have made a comparative analysis between a precise but slow video camera and a custom-made fast PSD system applied to the tracking of a diffuse-reflectivity object transported by a pneumatic microconveyor called Smart-Surface. Until now, the fast system dynamics prevented the full control of the smart surface by visual servoing, unless using a very expensive high frame rate camera. We have built and tested a custom and low cost PSD-based embedded circuit, optically connected with a camera to a single objective by means of a beam splitter. A stroboscopic light source enhanced the resolution. The obtained results showed a good linearity and a fast (over 500 frames per second) response time which will enable future closed-loop control by using PSD.
Highlights
The majority of large and micro scale robotic applications involve high dynamics trajectory control.Rapid sensors for objects positioning are required, combining high accuracy and repeatability
For reasons of simplicity and cost-effectiveness, we have studied and proposed to implement a single object motion tracking system for robotic and micro-robotic applications, industrial or scientific, using a fast and very low cost sensor
Another application that integrated position sensitive (or sensing) detector (PSD) was in civil structures engineering for optical recording of the relative-story displacement during earthquakes followed by the remnant deformations measurement of the building structure [10]
Summary
The majority of large and micro scale robotic applications involve high dynamics trajectory control. If several video cameras are required, the computation time required to solve the specific algorithms, increases This problem imposes the dynamic limits and the high processing unit costs of most VS applications. The technique was applied to get a very accurate velocity and position sensing of an industrial robotic arm end-effector Another application that integrated PSD was in civil structures engineering for optical recording of the relative-story displacement during earthquakes followed by the remnant deformations measurement of the building structure [10]. To test the performance of this kind of sensor for microrobotics, we’ve made a comparative analysis between a precise but slow video camera and a custom-made fast PSD system applied to the tracking of a diffuse-reflectivity object transported by a microconveyor called Smart-Surface. The conclusions part finalizes the paper by pointing out some future work directions like the closed-loop control
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
