Modular Sensory System for Robotics and Human-Machine Interaction Based on Optoelectronic Components

Abstract

Presented here is a new unified modular sensory system. The subject of the article is the sampling and information processing used in the conversion of a 2-D CCD array image into three axial and three angular displacement values. The CCD array image consists of four light spots produced by four light beams (planes) from laser diodes. These light beams (planes) form the edges (faces) of a pyramidal shape, with the 2-D CCD array forming its base and the origin of the laser sources forming its apex. The algorithm for the computation of the location and orientation is based on the inverse transformation of the final trapezoidal light spots position, related to the original square light spots position on the 2-D CCD array. This algorithm determines the relative location and orientation of a floating 2-D coordinate system (corresponding to the 2-D CCD array) against a fixed 3-D coordinate system (corresponding to the apex of the pyramidal shape). The modular design presented here enables easy customizing of this sensory system for a wide variety of applications.