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21 December 1993 Capaciflector sensor imaging and ranging applications for robot control
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Proceedings Volume 2057, Telemanipulator Technology and Space Telerobotics; (1993)
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States
One basic robotics task is to position a robot tool point over the geometric center of a symmetric object. This paper presents a fully autonomous control command development technique of linear complexity that solves the robot tool point centering and alignment problem. It is based on non-visual sensor imaging and starts with only a partial image of the target in its field of view. A new capacitive proximity and imaging sensor, called a capaciflector, is being used to obtain 2D discrete images of objects with moderate surface complexity. Considered are spacecraft parts whose imaged surfaces are flat with a simple geometrical shape such as a solid rectangle or a circle.
© (1993) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Semion Kizhner "Capaciflector sensor imaging and ranging applications for robot control", Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993);


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