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A non‐contact opto‐electronic sensing device for precision linear and angular positioning of robotic manipulators

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journal contribution
posted on 10.06.2009, 12:16 authored by I. Shams, Homer Rahnejat, D. Greening
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.

History

School

  • Mechanical, Electrical and Manufacturing Engineering

Citation

SHAMS, I., RAHNEJAT, H. and GREENING, D., 1988. A non‐contact opto‐electronic sensing device for precision linear and angular positioning of robotic manipulators. ARCHIVE: Proceedings of the Institution of Mechanical Engineers, Part B: Management and Engineering Manufacture 1983-1988 (vols 197-202), 202 (B4), pp. 261-265

Publisher

Professional Engineering Publishing / © IMECHE

Version

VoR (Version of Record)

Publication date

1988

Notes

This article was published in the Journal, ARCHIVE: Proceedings of the Institution of Mechanical Engineers, Part B: Management and Engineering Manufacture 1983-1988 (vols 197-202) [© IMECHE]. The definitive version is available at: http://www.pepublishing.com/

ISSN

0263-7146

Language

en

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