Six Degree of Freedom Sensing For Docking Using IR LED Emitters and Receivers

  • Kimon Roufas
  • Ying Zhang
  • Dave Duff
  • Mark Yim
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 271)


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 have been conducted indicating that such a setup is able to give positional offset in any of 6 degrees of error (x, y, z, pitch, roll, and yaw) within a range. A theoretical framework is also established using least squares minimization. The theoretical framework is general and applies to other configurations of emitter and receiver parts and positioning.


Time Slot Light Emit Diode Singular Value Decomposition Sensitivity Distribution Cross Group 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Kimon Roufas
    • 1
  • Ying Zhang
    • 1
  • Dave Duff
    • 1
  • Mark Yim
    • 1
  1. 1.Systems and Practices LabXerox Palo Alto Research CenterPalo Alto

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