NDLI: Performance of the minnesota scanner: A prototype for 3-D tracking of moving body segments

Content Provider	IEEE Xplore Digital Library
Author	Sorensen, B. Donath, M. Guo Yang Starr, R.
Copyright Year	1987
Description	Author affiliation: University of Minnesota, Minneapolis, Minnesota (Sorensen, B.)
Abstract	An advanced method of tracking the three-dimensional motion of bodies has been developed. This system has the potential of dynamically characterizing robot motion and facilitating their end-point control. Three rotating planes of laser light, fixed and moving photovoltaic diode targets, and a pipe-lined architecture of analog and digital electronics are used to locate multiple targets whose number is only limited by available computer memory. Data collection rates are a function of the laser scan rotation speed and are currently selectable up to 480 hz. The tested performance on a preliminary prototype designed for 0.1 in accuracy (for tracking human motion) at a 480 hz data rate includes a resolution of 0.8 mm (0.03 inches), a repeatability of ± 0.635mm (± 0.025 inches), and an absolute accuracy of ± 2.0mm (± 0.08 inches) within an eight cubic meter volume with all results applicable at the 95% level of confidence along each coordinate direction. The system can be used to reduce XYZ target position data to body angular orientation for this first prototype ranges from ± 0.5 to ± 1 degree. Moving targets can be tracked at speeds exceeding 1 m/s with signal integrity tested but not limited to 25 hz motions.
Starting Page	793
Ending Page	800
File Size	757395
Page Count	8
File Format	PDF
DOI	10.1109/ROBOT.1987.1087969
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1987-03-01
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Prototypes Target tracking Testing Robot motion Motion control Control systems Photovoltaic systems Solar power generation Diodes Computer architecture
Content Type	Text
Resource Type	Article

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