期刊名称：International Journal on Smart Sensing and Intelligent Systems
印刷版ISSN：1178-5608
出版年度：2015
卷号：8
期号：2
页码：842-868
出版社：Massey University
摘要：Autonomous robots (manipulators or vehicles) may accumulate significant errors duringtheir long-range motion to a desired position and orientation (pose). These errors, however, can becompensated for by subsequent local, short-range corrective actions to within random noise levels ofthe system. This paper presents a generic localization method for high-precision parallel kinematicmechanisms (PKMs) in order to allow them to accurately achieve their desired poses. The proposedmethod employs a novel non-contact spatial sensing technique combined with an iterative posecorrectionprocedure. The proposed sensing technique is based on the use of multiple spatial lines-ofsights(LOSs) emanating from a single source and ‘hitting’ a planar position sensitive detector (PSD)placed on the PKM’s platform. Using the positional feedback provided by the PSD, the instantaneousactual pose of the platform is accurately estimated. A pose-correction method is subsequently invokedto iteratively guide the platform to its desired location within noise levels. Extensive simulations werecarried out to illustrate the effectiveness of the proposed localization method for a spatial PKM beingdeveloped in our laboratory.
