Development of a New High-Resolution Angle-Sensing Mechanism Using an RGB Sensor

A new high-resolution angle-sensing mechanism using a color sensor is presented in this paper. This scheme is based on a red-green-blue (RGB) sensor that measures the radiant-intensity variation of the light reflected off a colored surface. The propagation mechanism for the output of an RGB sensor due to the reflected light's intensity on the cylindrical color track printed with the designated RGB codes from a light-emitting-diode source is discussed. The angle discrepancies due to color-printer characteristics and paper roughness are compensated for by a quarter-error compensation formula and the reference angles using a precision potentiometer. Through the performance verification of the new angle-sensing mechanism with a rotary position-control test bed in frequency and time domains, the feasibility of this new cost-effective noncontact angle-sensing mechanism is demonstrated. The bandwidth of 4.42 kHz, resolution of 0.08°, and nonlinearity of 6.63% are achieved.

[1]  Umberto Minoni,et al.  Low-cost optical motion sensors: An experimental characterization , 2006 .

[2]  K. Sankaranarayanan,et al.  Performance analysis of a Colorimeter designed with RGB color sensor , 2007, 2007 International Conference on Intelligent and Advanced Systems.

[3]  Jerald Graeme,et al.  Photodiode Amplifiers: OP AMP Solutions , 1995 .

[4]  Marcel Tresanchez,et al.  Using the image acquisition capabilities of the optical mouse sensor to build an absolute rotary encoder , 2010 .

[5]  Hyungsuck Cho.  Optomechatronics : fusion of optical and mechatronic engineering , 2005 .

[6]  M. Dimmler,et al.  Optical encoders for small drives , 1996 .

[7]  Marcel Tresanchez,et al.  The optical mouse sensor as an incremental rotary encoder , 2009 .

[8]  A. Green,et al.  Environmental Effects on Precision Potentiometers , 1957 .

[9]  M. Collier,et al.  A color-sorting SCARA robotic arm , 2012, 2012 2nd International Conference on Consumer Electronics, Communications and Networks (CECNet).

[10]  Christian Schott,et al.  Novel analog magnetic angle sensor with linear output , 2006 .

[11]  Masao Nakagawa,et al.  Fundamental analysis for visible-light communication system using LED lights , 2004, IEEE Transactions on Consumer Electronics.

[12]  B. S. Methven,et al.  The design, construction and performance of thick film cermet trimming potentiometers , 1969 .

[13]  Lazhar Ben-Brahim,et al.  A New Low Cost Linear Resolver Converter , 2008, IEEE Sensors Journal.

[14]  Alberto Cavallo,et al.  Optoelectronic joint angular sensor for robotic fingers , 2009 .

[15]  K. Torrance,et al.  A Practical , Comprehensive Light Reflection Model , 2005 .

[16]  Ciro Attaianese,et al.  Position Measurement in Industrial Drives by Means of Low-Cost Resolver-to-Digital Converter , 2007, IEEE Transactions on Instrumentation and Measurement.

[17]  C. Attaianese,et al.  A low cost resolver-to-digital converter , 2001, IEMDC 2001. IEEE International Electric Machines and Drives Conference (Cat. No.01EX485).

[18]  Akio Yamamoto,et al.  Resolver compatible capacitive rotary position sensor , 2009, 2009 35th Annual Conference of IEEE Industrial Electronics.

[19]  Georg Brasseur,et al.  Capacitive sensor for relative angle measurement , 2002, IEEE Trans. Instrum. Meas..

[20]  Takeo Kanade,et al.  Surface Reflection: Physical and Geometrical Perspectives , 1989, IEEE Trans. Pattern Anal. Mach. Intell..

[21]  M. A. Franchek,et al.  Real-Time Measurement of Eccentric Motion With Low-Cost Capacitive Sensor , 2013, IEEE/ASME Transactions on Mechatronics.

[22]  Arnold W. M. Smeulders,et al.  Color Based Object Recognition , 1997, ICIAP.

[23]  Donald P. Greenberg,et al.  A comprehensive physical model for light reflection , 1991, SIGGRAPH.

[24]  T. W. Ng,et al.  The optical mouse as a two-dimensional displacement sensor , 2003 .

[25]  Radivoje Popovic,et al.  A New CMOS Hall Angular Position Sensor (Neuer CMOS-Hall-Winkelpositionssensor) , 2001 .

[26]  Kok-Meng Lee,et al.  Harnessing Embedded Magnetic Fields for Angular Sensing With Nanodegree Accuracy , 2012, IEEE/ASME Transactions on Mechatronics.

[27]  Gourab Sen Gupta,et al.  Low cost colour sensors for monitoring plant growth in a laboratory , 2011, 2011 IEEE International Instrumentation and Measurement Technology Conference.

[28]  Kyong Sei Lee,et al.  A real-time optical sensor for simultaneous measurement of three-DOF motions , 2004 .

[29]  Ruh-Hua Wu,et al.  Applications of linear Hall-effect sensors on angular measurement , 2011, 2011 IEEE International Conference on Control Applications (CCA).

[30]  Kouhei Ohnishi,et al.  Motion control for advanced mechatronics , 1996 .