Robot hand including optical approach sensing apparatus

Details Robot hand including optical approach sensing apparatus Robot hand including optical approach sensing apparatus

1986-03-14

1988-08-23

Spar, Robert J.

Radiant energy

Photocells; circuits and apparatus

Optical or pre-photocell system

901 9, 901 35, 901 47, 364513, 414273, 414730, B25G 1308

Patent

active

047663227

ABSTRACT:
A robot hand having six optical approach sensors each including a light emitting element and a light sensing element is disclosed. Each optical approach sensor is adapted to detect an object in the vicinity of the robot hand such that the object may be picked up or avoided. The sensor units are adapted to detect objects by reflecting light therefrom, receiving a portion of the reflected light and providing an output signal, the magnitude of which is proportional to the intensity of received light. An output circuit is responsive to the sensor output for determining the magnitude of the sensor output signal, and hence the distance which separates the approach sensing unit and the object. The output circuit thus provides a plurality of control signals which are used by a motion control processor to control the speed at which the robot moves.

REFERENCES:
patent: 3952880 (1976-04-01), Hill et al.
patent: 4309618 (1982-01-01), Carter, Jr. et al.
patent: 4319864 (1982-03-01), Kaufeldt
patent: 4356554 (1982-10-01), Susnjara et al.
patent: 4423998 (1984-01-01), Inaba et al.
patent: 4541771 (1985-09-01), Beni
"Le Development de la Robotique", Georges Giralt, Tome 88, No. 5, May 1979, pp. 432-437.
Intelligent Machine Series, vol. I, "Microprocessor Based Robotics" by Mark J. Robillard, pp. 71-72.

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