Mathias Björk, u96835AUTO3160 OPTICS

*Optics in Robotics

*Contents

*Introduction to Robotics*Robotic applications*Components*Robotic Vision / Optics*Camera vision*Laser positioning systems

*Fiber Optic Gyroscope

*Introduction to robotics

*Design*Structural appearance*Operation*Control system*Limits

*Construction*Manufacturing

*Operation*Testing

Are all robots

killer ro

bots that

want to ta

ke over

the world?

*Robotic applications

Military applications- Recon missions- Surveillance- Enemy termination- Mine locating

Industrial applications- Packaging- Arc welding- Soldering- Assembly- Measurements

Medical applications- Surgery- Health monitoring

*Components

*Actuators (muscles)*Electric motors*Linear actuators (pneumatic,

electric, hydraulic)*Air muscles*Piezo motors

*Sensors (senses)*Touch (preassure)*Vision*Hearing*Elevation

*Robotic vision

*Robotic vision

*Camera vision (visible spektrum, infra-red, heat)*Laser scanning systems*SONAR (Sound navigation and ranging)

*Camera vision

SwissRanger 4000 3D Camera

Range: 0.1-10.0 mField of View: 69º (h) x 56º (v)Illumination wavelength: 850 nmMax frame rate: 50 FPSPixel Array Size: 176 (h) x 144 (v)Environment: IndoorConnectors: UBS, EthernetCooling: PassiveSoftware: C, C++, MatlabAngular resolution: 0.39ºCalibration: AutomaticAcquisition modes: Continuous & Triggered

http://www.youtube.com/watch?v=CIZCya7KBUQhttp://www.youtube.com/watch?v=nHE9LFphg0g&feature=related

*Camera Vision

*Laser Vision

SICK LD-OEM1000 to 5100Laser Measurement System

Range: 0.5-35 m | 0.5-50 m | Field of View: 360º (h)Illumination wavelength: 905 nm (infrared)Scanning frequency: 5-15 HzEnvironment: IndoorTransmission: Serial (4800 Bd -> 115200 Bd)

CanBus (10 kBit/s -> 1MBit/s)

Ethernet (10 Mbit/s)Software: SICK SOPAS ETAngular resolution: 0.125º - 1.5º

*Laser Vision *360 degrees horizontal plane

*4 evaluation fields of different shapes*Mirror tape can be used

*Laser Vision

*Fiber Optic Gyroscope

*Angular velocity detection*5 km optical fiber*Using the interference

of light to detect mechanical rotation (Sagnac effect)*Phase shift is defined

by:

*Questions?