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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/10614

Title: An Integrated 2D and 3D Location Measurement System Using Spiral Motion Positioner
Authors: Lee, Geunho
Noguchi, Naoto
Kawasaki, Nobuya
Chong, Nak Young
Keywords: range sensing
3D positioner
nut-and-bolt and link mechanism
spiral trajectory
single motor driven system
Issue Date: 2012-05
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: 2012 IEEE International Conference on Robotics and Automation (ICRA)
Start page: 4422
End page: 4427
DOI: 10.1109/ICRA.2012.6224861
Abstract: In this paper, we describe the design and implementationof an integrated two dimensional and three dimensionallocation measurement system, where different types of range sensors can be mounted onto the spiral motion positioner.The proposed sensor/positioner system enables terrestrial and aerial robots to observe their surroundings in all directions without blind spots. Using a nut-and-bolt and link mechanism, the proposed positioner driven by a single stepper motor exhibits continuous three dimensional spiral trajectories over the upper hemisphere. This single axis motor driven system helps decrease the size, weight, and structural complexity of the system. Particular attention in this work is placed on how to effectively combine two dimensional and three dimensional measurement functions. We verify the validity and effectiveness of the proposed location measurement system through simulations and experiments. It is expected that the proposed system can be incorporated into a wide range of mobile robot platforms.
Rights: This is the author's version of the work. Copyright (C) 2012 IEEE. 2012 IEEE International Conference on Robotics and Automation (ICRA), 2012, 4422-4427. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
URI: http://hdl.handle.net/10119/10614
Material Type: author
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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