Mathias Björk, u96835 AUTO3160 OPTICS. * Introduction to Robotics * Robotic applications * Components * Robotic Vision / Optics * Camera vision * Laser.

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Presentation transcript:

Mathias Björk, u96835 AUTO3160 OPTICS

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

* Design * Structural appearance * Operation * Control system * Limits * Construction * Manufacturing * Operation * Testing Are all robots killer robots that want to take over the world?

Military applications - Recon missions - Surveillance - Enemy termination - Mine locating Industrial applications - Packaging - Arc welding - Soldering - Assembly - Measurements Medical applications - Surgery - Health monitoring

* Actuators (muscles) * Electric motors * Linear actuators (pneumatic, electric, hydraulic) * Air muscles * Piezo motors * Sensors (senses) * Touch (preassure) * Vision * Hearing * Elevation

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

SwissRanger D Camera Range: m Field of View:69º (h) x 56º (v) Illumination wavelength:850 nm Max frame rate:50 FPS Pixel Array Size:176 (h) x 144 (v) Environment:Indoor Connectors:UBS, Ethernet Cooling:Passive Software:C, C++, Matlab Angular resolution:0.39º Calibration:Automatic Acquisition modes:Continuous & Triggered

SICK LD-OEM1000 to 5100 Laser Measurement System Range: m | m | Field of View:360º (h) Illumination wavelength:905 nm (infrared) Scanning frequency:5-15 Hz Environment:Indoor Transmission:Serial (4800 Bd -> Bd) CanBus (10 kBit/s -> 1MBit/s) Ethernet (10 Mbit/s) Software:SICK SOPAS ET Angular resolution:0.125º - 1.5º

* 360 degrees horizontal plane * 4 evaluation fields of different shapes * Mirror tape can be used

* Angular velocity detection * 5 km optical fiber * Using the interference of light to detect mechanical rotation (Sagnac effect) * Phase shift is defined by: