Pose measurement of robot arm end based on laser range finders

Abstract

 Abstract— A pose measurement system based on laser range finders for robot is proposed to measure the pose of target for robot arm manipulating. Laser range finder for robot is developed based on the triangulation ranging theory, which is highly integrated with a wide range and a shorter minimum measurement range. The system of pose measurement, three-dot measuring, is composed of three laser range finders emitting three parallel laser beams, which is used to measure the pose of plat surface. 3-degree of freedom of one range and two pose angles can be measured by the system. The method of pose measurement is practical and simple with high speed and low cost software and hardware. The experiment of pose measurement in the robot arm is carried out. The results show that the pose measurement based on three laser range finders is feasible. I. INTRODUCTION