Mathias Björk, u96835

AUTO3160 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 r

obots

killer r

obots th

at

want to ta

ke over

the w

orld?

*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?