For applications of robots in industrial underwater environments sensor systems are required to identify the observed scene and to determine the position of the tool-center-point (TCP) of robots. A laser radar for guidance of a mobile underwater vehicle is based on a different absorption distance measurement method, which calculates the distance by the different attenuation behaviour of water at two different laserlight wavelengths. Therefore, scattering and attenuation processes in water have to be incorporated. An ultrasonic measurement system is built as a trilateration system. It consists of piezoactuators and uses a time-of-flight method combined with a phase-shift measurement. Thus it is possible to identify the exact position and orientation of the actuator of an underwater robot with a very high accuracy.
Sensor systems for robotic applications under water
2000
5 Seiten, 12 Quellen
Aufsatz (Konferenz)
Englisch
Sensor systems for industrial applications under water
Tema Archiv | 1999
|Unmanned Robotic Systems and Applications
GWLB - Gottfried Wilhelm Leibniz Bibliothek | 2020
|Coherent laser sensor for robotic applications [3423-66]
British Library Conference Proceedings | 1998
|