Intelligent Optically Powered Robot Gripper

Elzbieta Marszalec; Janusz Marszalec

doi:10.1117/12.948941

5 January 1989 Intelligent Optically Powered Robot Gripper

Elzbieta Marszalec, Janusz Marszalec

Proceedings Volume 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation; (1989) https://doi.org/10.1117/12.948941
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

In the paper an intelligent optically powered robot gripper equipped with optical fiber sensors is proposed. The gripper's sensor system includes single sensor modules C an optical fiber slip sensor and an optical fiber colour sensor ) and systems of sensors (a 3-D optical fiber proximity sensing system, an optical fiber tactile matrix for tactile imaging and a vision system with an optical fiber illuminator, a coherent optical fiber bundle for transmitting an image from the gripper, and a CCD image sensor placed out of the gripper). In the described robot gripper many different sensors have been placed because of the complexity of the analized problems of sensing. In many situations the application of all sensors is unnecessary. The paper gives the procedure of defining the design of a sensor system for an intelligent robot gripper. The procedure determines the number of particular types of sensors for the system and the manner of integrating the sensors with the gripper.

Citation Download Citation

Elzbieta Marszalec and Janusz Marszalec "Intelligent Optically Powered Robot Gripper", Proc. SPIE 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation, (5 January 1989); https://doi.org/10.1117/12.948941

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