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1614 results about "Six degrees of freedom" patented technology

Six degrees of freedom (6DoF) refers to the freedom of movement of a rigid body in three-dimensional space. Specifically, the body is free to change position as forward/backward (surge), up/down (heave), left/right (sway) translation in three perpendicular axes, combined with changes in orientation through rotation about three perpendicular axes, often termed yaw (normal axis), pitch (transverse axis), and roll (longitudinal axis).

Kinematic optical mounting

An optical mounting assembly, such as a lens cell assembly, method for making a lens cell assembly, and method for supporting a lens in the lens cell assembly are provided to kinematically mount an optical element to an optical holder. The optical mounting assembly includes an optical element having a plurality of mounting pads distributed around an outer circumference of the optical element, and an optical holder having a corresponding plurality of clamping brackets distributed around an inner circumference of the optical holder. The optical holder supports or constrains movement of the optical element at points of contact between the plurality of mounting pads and the corresponding plurality of clamping brackets both in a normal direction parallel to the optical axis of the assembly and in a tangential direction of the corresponding mounting pad. When the optical element has three mounting pads and the optical holder constrains the optical element at corresponding three clamping brackets, the optical element is constrained in six degrees of freedom, three in the normal direction and another three in the tangential direction at the corresponding mounting pads. The optical mounting assembly of this invention can be used in combination with a projection lens assembly in a semiconductor wafer manufacturing process.

Camera based six degree-of-freedom target measuring and target tracking device with rotatable mirror

An embodiment may comprise a camera based target coordinate measuring system or apparatus for use in measuring the position of objects in manner that preserves a high level of accuracy. This high level of measurement accuracy is usually only associated with more expensive laser based devices. Many different arrangements are possible. Other embodiments may comprise related methods of using a camera based target coordinate measuring method for use in measuring the position of objects. Many variations on the methods are possible. For example, a camera based coordinate measuring system for use in measuring the position of a target relative to at least one frame of reference without requiring use of a laser range finder for measuring distance may comprise at least three or more light sources located on a target wherein the light sources are located on the target at known three-dimensional coordinates relative to each other; at least one rotatable mirror rotatable on about a first axis and a second axis; a camera located to receive light emitted by the light sources that is reflected off the minor; two angular measuring devices to measure the angles of rotation of the mirror about the first and second axes; and a processor for determining up to three positional degrees of freedom and up to three rotational degrees of freedom of the target.

Operation positioning device and method and robot operation system

ActiveCN104083217AEasy to get placementAvoid restrictionsDiagnosticsSurgeryX-rayEngineering
The invention relates to an operation positioning device and method and a robot operation system. The operation positioning device comprises a positioning ruler, an upper computer and a series-connection mechanical arm with at least six degrees of freedom. The upper computer is connected with the series-connection mechanical arm, the positioning ruler comprises two opposite surfaces allowing X-rays to transmit, the two opposite surfaces are fixedly connected through a connecting surface allowing X-rays to transmit, the two opposite surfaces are respectively provided with a group of marks, each group of marks comprise at least four mark points which are not located on the same straight line, and the mark points are X-ray-proof components. Any opposite surface or the connecting surface is fixedly connected with a ruler handle, and the ruler handle is connected with the tail end of the series-connection mechanical arm through a port. The upper computer adjusts the position of the positioning ruler by controlling movement of the series-connection mechanical arm, space positioning calculation is conducted according to the mark points in collected images, and a planning path is obtained. The device can achieve perspective positioning at any angle, and can eliminate system errors caused when an operation path is calculated, increase working space and improve the operation positioning accuracy.

Optical measurement system and method for three-dimensional shape of large-scale complex curved surface member

ActiveCN106959080AIntegrity guaranteedGuaranteed measurement efficiencyUsing optical meansGratingData integrity
The invention provides an optical measurement system and method for a three-dimensional shape of a large-scale complex curved surface member. The method is based on binocular optical grating projection measurement technologies, point cloud poses of all station positions during multiple station position measurement are obtained via a laser tracker and a corresponding target ball, point cloud obtained via the multiple station position measurement is converted to be under a unified laser tracker coordinate system according to corresponding pose data, and overall merging of point cloud data of a large-scale complex surface-shaped member can be realized; in the system, a six degree-of-freedom robot is used as a carrier for a point cloud space pose tracking unit and a binocular structured light measurement device, single station position measurement precision is ensured via calibration of the binocular structured light measurement device before measurement work starts, and data integrity and measurement efficiency are ensured via measurement route planning. Via the optical measurement system and method, all kinds of large-scale complex surface-shaped members can be accurately measured in non-contact conditions; practical, reliable and complete original three dimensional shape data can be provided for evaluation of all kinds of processing quality.

Apparatus and method for determining an absolute pose of a manipulated object in a real three-dimensional environment with invariant features

InactiveUS20100001998A1High optical contrastImproved signal-to-noise ratio performanceImage analysisCharacter and pattern recognitionMeasurement deviceTelecommunications link
An apparatus and method for optically inferring an absolute pose of a manipulated object in a real three-dimensional environment from on-board the object with the aid of an on-board optical measuring arrangement. At least one invariant feature located in the environment is used by the arrangement for inferring the absolute pose. The inferred absolute pose is expressed with absolute pose data (φ,θ,ψ,x,y,z) that represents Euler rotated object coordinates expressed in world coordinates (Xo,Yo,Zo) with respect to a reference location, such as, for example, the world origin. Other conventions for expressing absolute pose data in three-dimensional space and representing all six degrees of freedom (three translational degrees of freedom and three rotational degrees of freedom) are also supported. Irrespective of format, a processor prepares the absolute pose data and identifies a subset that may contain all or fewer than all absolute pose parameters. This subset is transmitted to an application via a communication link, where it is treated as input that allows a user of the manipulated object to interact with the application and its output.

Hedgerow pruning manipulator with six degrees of freedom (DOP)

The invention discloses a hedgerow pruning manipulator with six degrees of freedom (DOP). The manipulator comprises a main swing mechanism, a pruning knife assembly and a supporting mechanism, wherein the supporting mechanism is fixed on a dragging vehicle, and consists of a base, a rotary component, a lifting component and a telescopic component; the front end of the supporting mechanism is fixedly provided with the main swing mechanism capable of doing gyroscopic motion; the output shaft end of the main swing mechanism is fixedly connected with a horizontal mechanical arm the front end of which is connected with a vertical mechanical arm, and the front end of the vertical mechanical arm is provided with a wrist joint; the output end of the wrist joint is fixedly provided with the pruning knife assembly; and a control system utilizes a control module which takes ARM series processors as the core to automatically control the joint operation of the horizontal mechanical arm, the vertical mechanical arm, the wrist joint and the main swing mechanism, so that the pruning knife can be operated along various tracks in space, thus realizing pruning operation of various form such as a spherical shape, a conical shape, a cylindrical shape, a plane, an inclined face, a wavy face and the like. The pruning manipulator has the characteristics of high automaticity, wide adaptability, energy conservation, environmental protection and the like, and is convenient to popularize and use.
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