Browse Prior Art Database

Robot Payload Position Sensor

IP.com Disclosure Number: IPCOM000103132D
Original Publication Date: 1990-Jul-01
Included in the Prior Art Database: 2005-Mar-17
Document File: 1 page(s) / 34K

Publishing Venue

IBM

Related People

Wright, JA: AUTHOR

Abstract

There is described a technique for locating payloads on robot end-effectors using range sensors positioned directly on the robot arm. This technique enables accurate location of payloads, even while the robot arm is in motion.

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Robot Payload Position Sensor

      There is described a technique for locating payloads on robot
end-effectors using range sensors positioned directly on the robot
arm.  This technique enables accurate location of payloads, even
while the robot arm is in motion.

      Preferably, a pair of range sensors are fixedly attached to the
robot arm.  Since range sensor output is proportional to the distance
from the sensor to objects along their sensing path, such sensors may
be used to indicate both the shape and location of the objects.
Triangulation is utilized with this pair of range sensors to
determine the distance to a projected laser spot.  A laser beam is
scanned by a rotating mirror and telecentric lens in one dimension
and by an angle adjusting mirror in the other. Range to the projected
spot is indicated by the location of the reflected spot on the
displacement sensor.

      The disclosed technique may also be implemented with other
range measurement sensors such as time-of-flight systems and
acusto-optic modulator beam scanning systems.

      Range signal analysis is one dimensional and easily
programmable for different payloads.  Range data is not susceptible
to contrast and lighting changes.

      Disclosed anonymously.