58 Robotics: Measuring 3 or 6DOF position part3
Description
This article is from the Robotics FAQ, by Kevin Dowling nivek@cs.cmu.edu with numerous contributions by others.
58 Robotics: Measuring 3 or 6DOF position part3
"RSI Research Ltd."
Pacific Marine Technology Center
#3-203 Harbour Road
Victoria, BC. CANADA V9A 3S2
tel: 604.360.1025
fax: 604.360.1161
RSI Research makes a 6 DOF joystick. It has a medium workspace
(about 10 cm radius) and several buttons.
"Shooting Star Technology "
1921 Holdom Avenue
Burnaby, B.C.
Canada V5B 3W4
tel: 604.298.8574
fax: 604.298.8580
ADL-1 6DOF tracker. Gives position/orientation measurements up to
240 times/second, with low latency (0.35 to 1.88 milliseconds.)
"Abrams-Gentile Entertainment, Inc., "
244 West 54th Street,
9th Floor, New York, NY 10019
tel: 212.757.0700
Mattel marketed the PowerGlove for use in gaming (Nintendo). It
tracked finger motions through small bend sensors. The Mattel
PowerGlove was developed by Abrams-Gentile. The sensors themselves
are simple resistors varying from about 200K to 500K ohms depending
on the amount of flex.
"Denning Branch International Robotics "
1401 Ridge Avenue
Pittsburgh, PA 15233
tel: (412) 322-4412
fax: (412) 322-2040
email: Soon. Messages to hpm@cs.cmu.edu will be forwarded.
Denning-Branch is a merger of Denning Mobile Robotics, once located
in the Boston area, and makers of human-size mobile robots since
1983, and Branch and Associates, of Hobart, Australia, designers and
builders of smaller mobile robots since 1979. LaserNav Robot-mounted
scanning infrared laser unit that uses wall mounted bar-coded
retroreflectors or active transponders to navigate to centimeter
precision in 10-meter-scale areas. $8K
"Guidance Control Systems (GCS) "
tel: 011 44 203 39 3911
fax: 011 44 203 39 4211
Contact: Malcolm Roberts
GCS's core group developed the rotating scanner and passive target
system. Featured in several papers out of Oxford. Uses passive
targets with barcodes. Targets have unique ID's and surveyed
positions. Rotating laser gives angles between targets. Target
positions combined with angles gives vehicle position and heading.
2Hz scan rate but clever use of dead reckoned information and kalman
filtering gives very impressive results. New products go to 200-300m
ranges.
"Innovision Systems"
30521 Schoenherr, Suite 104
Warren, MI 48093-3129
tel: 810.751.0600
fax: 810.751.0646
Innovision specialized in non-contact measurements. 2-3 dimensions.
On-site, software development, leasing. They are representatives for
several non-contact measurement systems. See Below.
"MTI Research Inc. "
313 Littleton Rd.
Chelmsford, MA 01824
contact: Ed MacLeod
tel: 508.250.4949
net: [56]http://www.tiac.net/users/mtir
Update speed: 20 hz Position accuracy: +/-0.05inches (1.27 mm) This
really depends on range as well. direction accuracy: +/- 0.05
degrees. 3D reference points covering up km distances. 1D, 2D or 3D
feedback. Cost: About $6K-$10K for positioning system. Custom
software available for graphing, updating etc. Accuracy available
even when the robot is moving at several meters/sec.
"Selcom Selective Electronics Inc "
21654 Melrose Avenue
Southfield, MI 48075
tel: 810.355.5900
In Sweden:
tel: +46-31-878110
fax: +46-31-278992
Selective markets optical triangulation laser-based devices and
laser gaging systems. They also make the Selspot tracking system.
The Selspot is a two camera system that registers 3D position of IR
LED's at very high data rates. Selspots Robot Check System can
provide non-contact 3D measurement and analysis of robot motion at
500 Hz rate. System has been used for over 20 years. Used in motion
studies for people, animals and robots. Active markers are used (IR
LEDs) Fast sampling up to 10K Hz. Selspot is marketed by:
"Innovision Systems "
30521 Schoenherr, Suite 104
Warren, MI 48093-3129
tel: 810.751.0600
fax: 810.751.0646
"Qualisys AB "
Ogardesvagen 4
S-433 30 Partille
Sweden
Qualisys
41C New London Turnpike
Glastonbury, CT 06033
tel: 203.657.3585
fax: 203.657.3595
MacReflex system uses CCD-based cameras for non-contacting
measurement of robots. Two camera system is typical. Uses small
passive targets and IR LED's colocated with the cameras lens. Video
processor calculates centroid of markers and displays in real-time.
Information is used to provide data and analysis of position,
velocity, acceleration, angles, angle velocity and acceleration and
position vs. time. Specs: Noise level 1:200000, resolution 1:70000,
Relative accuracy: 1:30000, and absolute accuracy 1:10000. Accuracy
is defined as standard deviation of difference between measured and
true positions/longest diagonal in measurement volume. 50Hz and
120Hz and high accuracies.
MacReflex is marketed by: "Innovision Systems "
30521 Schoenherr, Suite 104
Warren, MI 48093
tel: 810.751.0600
fax: 810.751.0646
Coordinate Measuring Machines
Coordinate Measuring Machines are now widely used for process
control, statistical monitoring, entering 3D from a physical part
into a CAD system and many other uses. CMM's tend to be large and
expensive and fixed but there are a number of devices now on the
market to provide accurate positioning information.
"Renishaw "
623 Cooper Court
Schaumburg, IL 60173
tel: 708.843.3666
fax: 708.843.1744
Renishaw makes a ballbar mechanism to measure and calibrate machine
tool motion errors including backlash, servo error, squareness,
straightness, axis reversal, vibration, scale mismatch etc. It uses
a precise linear measuring device and interpolates a circular
profile from which all the above information is calculated.
Renishaw also makes a high speed digitizing and scanning system for
the tool and die industry. It's a CMM style machine that can
generate NC programs from scanned parts. They also have a scanning
system that retrofits to existing CNC mills. "Supraporte Inc "
5145-I Avenida Encinas
Carlsbad, CA 92008
Portable 6-axis measuring system. Model 2000 now available with
battery power pack. Very accurate. Very expensive.
"Faro "
125 Technology Park
Lake Mary, FL 32746-6204
tel: 800.736.6063
tel: 407.333.9911
fax: 407.333.4181
Metrecom: 6DOF articulated pointer, like a portable CMM. Endpoint
accuracies are around .005" -> .025", depending on model.
Counterbalnaced design. Three models from 1.8m to 2.4m reach and
accuracies ranging from +/- .635mm to .127mm and prices from $14.4K
to $51.4K respectively.
"Chesapeake Laser Systems "
222 Gale Lane
Kennett Square, PA 19348
tel: 215.444.2300
fax: 215.444.2323
Laser metrology systems. CMS-3000 is a servo controlled tracking
laser interferometer measureing tool. The tracker follows a
retroreflective target whil providing real-time coordinate
information of the retro center location. Position of the target is
provided in XYZ coordinates via linear distance and two high
accuracy angular encoders. CMS-3000 can provide measurements over a
large volume. 30m radial, > 110 degrees elevation, > 270 horizontal.
Down to 0.6 micron resolution, 2 parts in 10^5 accuracy for range.
(1m/sec tracking) up to 6m/sec tracking at 5 micron resolution.
Lightweight and cost effective versus CMM's and offers speed and
accuracy advantages over theodolites and photogrammetry equipment.
System can be leased by hour/week/month. About $180K to buy.
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