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Six Degree of Freedom Sensing For Docking Using IR LED Emitters and Receivers
Experimental Robotics VII
Six DOF offset sensing between two plates is important for automatic docking mechanisms. This paper presents an easy and inexpensive implementation of such a system using four commercial-off-the-shelf (COTS) infrared (IR) light emitting diode (LED) emitters and two COTS IR receivers on each of two docking plates. The angular intensity distribution of an emitter and the sensitivity distribution of a receiver allow for estimation of the angle and distance between them. Simple experiments havedoi:10.1007/3-540-45118-8_10 dblp:conf/iser/RoufasZDY00 fatcat:rgcmo4fd3rapzcwiviqlbdanmm