1 October 1990 Development of a piezoelectric-actuated manipulator for end-point sensing
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Abstract
This paper presents an integrated solution that combines an inexpensive optical sensor and a piezoelectric-actuated micro-motion manipulator to enable precision sensing of the end-effector position with respect to the workpiece directly. The materials presented in this paper are built on the author's prior research on sensing and actuator1'2'3. In particular, this paper highlights the sensor and actuator needed for integrated robotic motion control in flexible manufacturing environment. The optical sensor is based on the concept of retroreflective vision sensing to locate workpieces or end-ofarm tooling, which requires no priori knowledges of object reflectance properties. The design of a piezoelectric actuated micro-motion mechanism to enhance the resolution and to provide an effective means of end-point sensing using microbending losses in fiber optics is addressed.
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Kok-Meng Lee, Kok-Meng Lee, } "Development of a piezoelectric-actuated manipulator for end-point sensing", Proc. SPIE 1307, Electro-Optical Materials for Switches, Coatings, Sensor Optics, and Detectors, (1 October 1990); doi: 10.1117/12.21668; https://doi.org/10.1117/12.21668
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