Photo-Robotic Extrinsic Parameters Calibration of 6-DOF Robot for High Positioning Accuracy
Résumé
"Hybrid integration of individual photonic elements
appears particularly promising. It indeed provides high performances,
proposes new optical functionalities and products and
exploits new propagation modes of light beams. This approach
requires an accurate multi Degree-Of-Freedom (DOF) positioning
of the individual photonic elements. Hence, the inaccurate multi-
DOF measurements and robots control are the main locks
to overcome, notably at the micro-scale. For this sake, an
original photo-robotic approach has been proposed. It relies
on multi-DOF robot’s motion associated with the use of 1-D
Fabry-Perot interferometry measurement to achieve multi-DOF
pose measurement. This original photo-robotic approach notably
integrates the issue of extrinsic parameters calibration through a
proposed photo-robotic calibration model. Experimental investigations
demonstrate that a translational positioning accuracy of
390 nm was obtained. This photo-robotic approach has especially
been applied to achieve the 6-DOF positioning of an optical
lamella relative to an optical fiber with high accuracy that also
conducts to maximum optical reflectivity."
Origine | Fichiers produits par l'(les) auteur(s) |
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