IEEJ Transactions on Electronics, Information and Systems
Online ISSN : 1348-8155
Print ISSN : 0385-4221
ISSN-L : 0385-4221
Special Issue Paper
Position and Angle Measurement of a Miniature Robot by Using Position Sensitive Detectors
Akihiro ToriiYusuke KawaneKae DokiAkiteru Ueda
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2003 Volume 123 Issue 12 Pages 2152-2159


In this paper, position and angle measurements of a miniature robot by using position sensitive detectors (PSDs) are proposed. The miniature robot carries three PSDs and laser beams are irradiated on the PSDs’ surfaces. The position and angle of the robot are obtained by the positions of the laser spots. Since the PSD, which is sensitive according to the laser spot, provides a continuous signal, the measurement sensitivity is theoretically determined by the sensitivity of the PSD. The results obtained by preliminary experiments in the linear and rotational displacements are described.

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© 2003 by the Institute of Electrical Engineers of Japan
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