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1 March 1991 Positioning method using polarization-detecting optical sensor for precision robot systems
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Proceedings Volume 1385, Optics, Illumination, and Image Sensing for Machine Vision V; (1991) https://doi.org/10.1117/12.25343
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States
Abstract
A new positioning method using an optical pick-up sensor is demonstrated for an automated subscriber wire distributing frame at the front-end of a telephone switching station called Automated Main Distributing Frame. The wiring operation has been replaced by automated pin insertion into a matrix board which has recently been developed from printed circuit board technology. This positioning method achieves two-dimensional positioning accuracy of 15 im on dynamic strokes across an area of a few meters square. Optical disk pick-up and printed circuit board technologies are employed to achieve such accuracy on a wide stroke. A sensor employing two polarized lights and three position-sensitive devices can detect three-dimensional displacement and two-dimensional inclination from the target guide pattern on the matrix board. We applied this new positioning method to an automated main distributing frame prototype system. Positioning experimerits performed using a cylindrical coordinate motion mechanism with a stroke of 1 . 8 m have obtained two-dimensional p0- sitioning accuracy within 1 5pm. The results confirm the feasibility of highly accurate positioning and insertion of a small pin into a closely spaced crosspoint hole in a matrix board. This will lead to precise and reliable positioning for an automated main distributing frame in an automated subscriber wiring operation in a telephone switching station.
© (1991) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Masao Sakai, Akira Nagayama, and Kunihiko Sasakura "Positioning method using polarization-detecting optical sensor for precision robot systems", Proc. SPIE 1385, Optics, Illumination, and Image Sensing for Machine Vision V, (1 March 1991); https://doi.org/10.1117/12.25343
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