Local Sensor to Improve Probe Accuracy
Original Publication Date: 1984-Jun-01
Included in the Prior Art Database: 2005-Feb-04
Semi-closed-loop probe positioning is carried out by positioning a probe to the coordinates desired, viewing with a probe-carried sensor the field directly under the probe, calculating the actual goal position to develop a position command, and adding a fine positioning motion to carry the probe toward the goal. This article describes a process for acquiring and using information, from a sensor which is affixed to the end of a robot manipulator, to position the end of the manipulator with more accuracy than is possible by the manipulator alone. The manipulator may hold such an object as a probe. The process uses information gained from the sensor about objects in the vicinity of the probe after the probe has reached a nominal goal position.