変調位相情報に注目した光学式近接センサの応用

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A proximity sensor is defined as the external detector of the robot which measures the relative geometrical relations between the robot hand and the object. This paper deals with the applications of new type optical proximity sensor which consists of 2 light sources and a photo-detector. The principle of this proximity sensor is based on detecting the phase shift of light signal. The gap distance and the inclination angle of the object are detected by the investigation of the phase of received light signal. The first application of the multifunctional proximity sensor is the control application. The fundamental curve tracing task is executed by using the proximity sensor which is attached to the hand of the articulated robot arm. The sequential tracing method is adopted to trace the curved object with constant gap and constant angle. The second application is the measurement of other information. Two dimensional position of the movable object is detected by expanding the sensor. the position of object on the target plane is represented by the radius-angle coordinates, and the orientation angle of the object is detected by using 4 light sources which are placed on the + pattern and are driven by 4 phase signals. And the radius is also detected by the other modulated pattern. By these fundamental experiments, although the accuracy is not sufficiently high, the effectiveness of multifunctional proximity sensor for the robot control and the possibility of measurement for the movable object are confirmed.
東海大学の論文
1986-00-00

変調位相情報に注目した光学式近接センサの応用

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