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本文介绍一套经济的光学系统，可用于测定物体在欧氏空间的坐标与姿态．该系统主要部件是一个锥形传感器．当一束激光扫过传感器时，扫描光形成的平面与锥形体相交．其截面可被传感器用于确定光平面方程．用户可将传感器固定在机械手末端执行器上．并以传感器坐标系作为机械手末端坐标系．然后从３个预定位置将３束激光扫向传感器．则可准确地测定机械手末端的坐标与姿态．
This article presents an economical optical system that can be used to determine the coordinates and pose of objects in Euclidean space. The main part of the system is a cone-shaped sensor. When a laser beam sweeps through the sensor, the plane formed by the scanning light intersects the cone. Its cross section can be used by the sensor to determine the light plane equation. The user can fix the sensor on the robotic end effector. And the sensor coordinate system as a robot end coordinate system. Then, three laser beams are swept to the sensor from the three predetermined positions. The coordinates and attitude of the robot end can be accurately measured.