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Task Space Estimation and Control Using Photodiodes

We have built a system with a pair of 2-D photodiodes, to estimate the position of a pulsed LED mounted on a robot. A cross-like device is used to locate the photodiode coordinate systems in task space. The LED motion is modeled by three decoupled double integrators, and extended Kalman filtering is used to estimate the state. We propose to control the motion in task space using the reduced-position algorithm developed by H.Wehn. This algorithm uses only rough kinematic models; one objective will be to assess the trade-off between kinematic model accuracy and performance.

B. Yang, A. Helmy, T. Pound, P.R. Bélanger

Thierry Baron
Mon Nov 13 10:43:02 EST 1995