Details

Autor(en) / Beteiligte

• Asakawa, K.
• Tabata, F.
• Komoriya, H.

Titel

A Robot with Optical Position Feedback

Ist Teil von

• 1982 Annual Meeting Industry Applications Society, 1982, p.1276-1281

Ort / Verlag

IEEE

Erscheinungsjahr

1982

Quelle

IEEE Xplore

Beschreibungen/Notizen

• We have developed a multi-joint robot arm and an optical position feedback control method. The arm has five joints and a two-fingered hand with tactile sensors. Locations of the end-effector of the arm and the object to be manipulated can be sensed by a position sensitive detector (PSD) and their relative locations are evaluated. The relative locations are used as information to provide locus and position control for real-time control of the robot arm, in which the locus is formed by three planes intersecting at right angles. These planes are mutually generated by the location of end-effector relative to a prescribed location. An object grasped by the robot hand is carried to the desired location by using the relative locations, in which the location of the robot arm in the X, Y, Z axis co-ordinate system need not be adjusted.