This node is considered passive due to always be waiting for a signal to be received, this subsystem of the TVS works as the feedback for the entire triangulation.
Published in Chapter:
Digital Control Theory Application and Signal Processing in a Laser Scanning System Applied for Mobile Robotics
Miguel Reyes-Garcia (Universidad Autónoma de Baja California, Mexico), Cesar Sepulveda-Valdez (Universidad Autónoma de Baja California, Mexico),
Oleg Sergiyenko (Universidad Autónoma de Baja California, Mexico), Moisés Rivas-López (Universidad Autónoma de Baja California, Mexico),
Julio Cesar Rodríguez-Quiñonez (Universidad Autónoma de Baja California, Mexico),
Wendy Flores-Fuentes (Universidad Autónoma de Baja California, Mexico), Daniel Hernandez-Balbuena (Universidad Autónoma de Baja California, Mexico), Juan-Ivan Nieto-Hipolito (Universidad Autónoma de Baja California, Mexico), Fabian N. Murrieta-Rico (Universidad Autónoma de Baja California, Mexico),
Lars Lindner (Universidad Autónoma de Baja California, Mexico), and Mykhailo Ivanov (Universidad Autónoma de Baja California, Mexico)
Copyright: © 2020
|Pages: 51
DOI: 10.4018/978-1-5225-9924-1.ch006
Abstract
Positioning technologies are useful in a great number of applications, which are oriented for pick and place robots, manipulation of machine tools, especially on machines oriented for artificial vision and detection systems, such as vision-guided robotic systems and object existence in a limited environment. Due to the high demand of those applications, this chapter presents digital control theory application using a laser positioner, which obtains 3D coordinates in a defined field of view. Using the LM629N-8 motion controller, representing the main digital controller for the motion task of the laser positioner as an active element, which is analyzed via modeling and simulation using Matlab-Simulink. Additionally, this chapter focuses on some of the principal sources of uncertainties that exist in a laser scanning system and mainly on the receptive part of such system, which is driven by a brushed DC motor. The processed signal will be analyzed in different environmental conditions to analyze how it is affected by the instability characteristics of this main actuator.