Electro-optical systems for control of robots, manipulator arms

Details Electro-optical systems for control of robots, manipulator arms Electro-optical systems for control of robots, manipulator arms

1981-05-11

1984-06-05

Nelms, David C.

Radiant energy

Photocells; circuits and apparatus

Photocell controls its own optical systems

250561, 356400, G01J 120

Patent

active

044530854

ABSTRACT:
Method and apparatus for accurate positioning of a moveable member such as a robot arm or the like. An encoder or other position sensing means on the robot is used to control positioning of the robot into a desired position. However, because of inaccuracies such as those built up by utilizing a plurality of position sensors or those occasioned by bending, etc., the robot arm, gripper or the like may be substantially out of position. In the present invention, an electro-optical system, having a reference point external of the robot, is used to determine if the arm, gripper or the like is actually in its desired position. If it is determined to be out of its desired position, a control signal is generated to effect movement of the arm or gripper or the like so that it is actually in its desired position.

REFERENCES:
patent: 3824020 (1974-07-01), Pease
patent: 3974374 (1976-08-01), Inoue
patent: 4333044 (1982-01-01), Blitchington

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