A non-contacting optical sensor is devised to monitor the position and orientation of a robot end-effector or grasped object within fine limits of accuracy. This enables fine alignment of tools or parts with respect to assembly fixtures, thus rendering precision assembly tasks to be performed in a dexterous manner. The sensor is capable of detecting linear displacements of the order of 5 μm or better and angular misalignments down to 5 seconds of arc. The principle of differential detection is employed which reduces the undesired effects of noise and fluctuations in the source intensity.
RosenC. A.NitzanD.Use of sensors in programmable automationTrans. IEEE., Comp. Soc. Magazine, December 1977, 12–23.
4.
ChinT.HarlowA.Automated visual inspection: A surveyTrans. IEEE. on Pattern Anal. and Mach. Intell, November 1982, 557–573.
5.
BenhadjR.RahnejatH.SafaM. M. A.A high resolution pneumatic proximity to tactile sensing deviceInt. J. AMT, August 1987, 2(3), 59–72.
6.
ForoughiF.RahnejatH.BeraH.Tactile sensors for robot handlingProc. Instn Mech. Engrs., Part B, 1987, 201 (B1), 51–58.
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IshiiM.SakaniS.KakikuraM.MikamiY.A new 3D sensor for teaching robots paths and environment. Proc. Fourth International Conference on Robot Vision and Sensory Controls, December 1984 (IFS Conference, Bedford).
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MehdianM.RahnejatH.A tactile sensor with automatic learning capability for industrial parts inspectionInt. J. AMT, November 1987, 2(4), 11–26.
9.
MasudaR.HasegawaK.OsakoK.Slip sensor of industrial robot and its applicationElec. Engng in Japan, 1976, 96 (5).
10.
LightB.Optical position sensing using silicon photodetectorsLasers and Applications, 1986, V(4).
