EP0144345A4 - Robotic systems utilizing optical sensing. - Google Patents
Robotic systems utilizing optical sensing.Info
- Publication number
- EP0144345A4 EP0144345A4 EP19840901713 EP84901713A EP0144345A4 EP 0144345 A4 EP0144345 A4 EP 0144345A4 EP 19840901713 EP19840901713 EP 19840901713 EP 84901713 A EP84901713 A EP 84901713A EP 0144345 A4 EP0144345 A4 EP 0144345A4
- Authority
- EP
- European Patent Office
- Prior art keywords
- fingers
- array
- light
- robot
- receptors
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 230000003287 optical effect Effects 0.000 title claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims abstract description 3
- 238000003491 array Methods 0.000 claims description 8
- KKEBXNMGHUCPEZ-UHFFFAOYSA-N 4-phenyl-1-(2-sulfanylethyl)imidazolidin-2-one Chemical compound N1C(=O)N(CCS)CC1C1=CC=CC=C1 KKEBXNMGHUCPEZ-UHFFFAOYSA-N 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 239000000835 fiber Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000013307 optical fiber Substances 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/082—Grasping-force detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
Definitions
- This invention relates to robotic systems incorporating optical sensing.
- Two opposing fingers of a robot hand are each provided with an array of optical devices in optical communication with one another across the gap between the fingers.
- One finger is provided with an array of light emitters and the other is provided with an array of light receptors.
- An object between the fingers blocks transmission of light from some of the emitters to corresponding receptors, so that as the robot hand is moved, the signals from the receptors provide information as to the shape of the object.
- the arrays of optical devices are mounted, for example, on a table top, and the robot may be used to move the object while it is disposed between the arrays.
- FIG. 1 is an enlarged isometric view of a robot gripper
- PIG. 2 shows a T-shaped array-of optical devices mounted on the gripper
- FIG. 3 is an enlarged side view of the sensor array of FIG. 1.
- the gripper 22 includes a pair of fingers 30 and 32 slidably mounted on a palm member 28 so that the finger opposing faces 34 and 36 are maintained essentially parallel during opening and closing. Means for moving the gripper and for opening and closing the fingers are known.
- the finger 30 is provided with an array 40 of light emitters, and the finger 32 is provided with an array 42 of light receptors.
- the emitters may be active elements (such as
- the receptors may be active elements (such as photodiodes) or passive elements (such as light guides or lenses), in either case, the array 40 emits a pattern of light beams 41 according to the geometric layout of the emitters.
- the receptor array has a corresponding layout so that there is a one-to-one relationship between emitters and receptors.
- the emitters are adapted to generate colli ated, parallel beams so that each beam is detected regardless of the position or motion of the fingers.
- This sensor array operates by detecting the presence and shape of an object 29 between the fingers.
- the object is depicted as a header for a semiconductor device. When positioned between the fingers, the object interrupts or blocks one or more of the parallel beams that pass between the fingers causing a change in the detected image displayed on camera 50 (or other suitable display) .
- each array includes at least two non-parallel linear sets of devices.
- the linear sets are at right angles to one another in a U-shaped or T-shaped pattern.
- the arrays 40 and 42 each includes three linear sets of lenses which are cjraded refractive index (GRIN) rods well-known in the optics art as described by
- the U-shaped array (FIG. 1) is disposed around the periphery of the fingers so that on each finger one linear set is located along one side, another linear set is along a parallel side, and the third linear set is along the bottom which connects the two sides.
- Each set can comprise, for example, 12 elements.
- a T-shaped array (FIG. 2) may be used on the fingers. To avoid contact between the object and the vertical set, the latter is disposed in a groove 51 in the surface of the robot finger.
- the array 40 of GRIN rod emitters is coupled via optical fiber cable 62 to light source 60, e.g., a laser, and the array 42 of GRIN rod receptors is coupled via optical fiber cable 64 to camera 50.
- the optical signal on cable 64 is analyzed by the camera 50, and the output of the camera is used by a computer to control the robot in accordance with known techniques; see, e.g., the aforecited Loughlin article..
- an optical fiber 33e is connected to the back of each lens 31e (only three lenses of each array being shown for simplicity) .
- the lenses collimates t&e light 41 across the gap between the fingers.
- a corresponding array 42 of GRIN rod lenses 31r is disposed on the other finger 32. These lenses 31r of array 42 are attached to fibers 33r which form the output cable 64.
- GRIN rod lenses have a parabolic refractive index distribution, as shown by light ray path 43, which produces collimated light beams 41 over a distance of about 5 cm.
- the fibers of output cable 64 terminate in a common plane and are disposed, by known means, in a fixed array, thus providing, in effect, a screen or viewing area of small (the fiber ends) light sources.
- This viewing area or screen is viewed, to obtain the signal generated by the described sensor arrangement, by a video camera.
- the viewing can be accomplished using a CCD or photodetector array.
- a linear CCD array can be used as an active receptor in lieu of the array 42 of GRIN rod receptor lenses. This latter arrangement eliminates the need for the fiberoptic connection between image sensing and image detecting.
- the detected image is utilized by a computer, in known fashion, to determine the position of the object relative to the gripper fingers.
- the described sensor can be regarded as an extreme case of low resolution vision. Although based on a relatively small number of sensing elements (e.g. 36) , the resolution can be comparable to or even higher than commercially available camera systems.
- the sensor may be mounted on, for example, a table top and a robot (or other mechanical apparatus) may be used to move the object in the gap between the arrays. Thus, the sensor is fixed but the robot motion is used to scan the arrays.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Image Processing (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US06/498,881 USH65H (en) | 1983-05-27 | 1983-05-27 | Dynamic optical sensing: Robotic system and manufacturing method utilizing same |
US498881 | 1983-05-27 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0144345A1 EP0144345A1 (en) | 1985-06-19 |
EP0144345A4 true EP0144345A4 (en) | 1987-03-02 |
Family
ID=23982885
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19840901713 Withdrawn EP0144345A4 (en) | 1983-05-27 | 1984-04-16 | Robotic systems utilizing optical sensing. |
Country Status (5)
Country | Link |
---|---|
US (1) | USH65H (en) |
EP (1) | EP0144345A4 (en) |
JP (1) | JPS60501451A (en) |
IT (1) | IT1176215B (en) |
WO (1) | WO1984004723A1 (en) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4852928A (en) * | 1984-02-16 | 1989-08-01 | Multivisions Corporation | Robotic end effectors |
JPS6171302A (en) * | 1984-09-14 | 1986-04-12 | Toshiba Corp | Access sensor for robot hand |
US4783107A (en) * | 1985-06-04 | 1988-11-08 | Clemson University | Method and apparatus for controlling impact force during rapid robotic acquisition of object |
US5177563A (en) * | 1989-02-01 | 1993-01-05 | Texas A&M University System | Method and apparatus for locating physical objects |
FR2664525A1 (en) * | 1990-07-16 | 1992-01-17 | Villejuif Etudes Ind | Slice-handling robot with optical sensor |
US6477442B1 (en) * | 1995-08-10 | 2002-11-05 | Fred M. Valerino, Sr. | Autoacceptertube delivery system with a robotic interface |
US6202004B1 (en) * | 1995-08-10 | 2001-03-13 | Fred M. Valerino, Sr. | Autoacceptertube delivery system with a robotic interface |
DE19806231C1 (en) * | 1998-02-16 | 1999-07-22 | Jenoptik Jena Gmbh | Device for gripping an object by a gripping component with interacting adjustable gripping components |
DE19817605A1 (en) * | 1998-04-17 | 1999-10-21 | Kuka Roboter Gmbh | Robot with at least partially outside cables |
US6516248B2 (en) * | 2001-06-07 | 2003-02-04 | Fanuc Robotics North America | Robot calibration system and method of determining a position of a robot relative to an electrically-charged calibration object |
US6739567B1 (en) * | 2002-10-11 | 2004-05-25 | Pacific Cascade Parking Equipment Corporation | Separable magnetic attachment assembly |
US7694583B2 (en) * | 2005-05-05 | 2010-04-13 | Control Gaging, Inc. | Gripper gage assembly |
DE102008006685B4 (en) * | 2008-01-22 | 2014-01-02 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Gripping device for gripping objects |
DE102008063080B4 (en) * | 2008-12-24 | 2011-05-26 | Pantron Instruments Gmbh | photocell |
EP2659316B1 (en) * | 2011-03-18 | 2019-10-02 | Siemens Healthcare Diagnostics Inc. | Methods, systems, and apparatus for calibration of an orientation between an end effector and an article |
US9545724B2 (en) * | 2013-03-14 | 2017-01-17 | Brooks Automation, Inc. | Tray engine with slide attached to an end effector base |
JP7276520B2 (en) * | 2020-02-06 | 2023-05-18 | 村田機械株式会社 | Clamping device and stacking device |
GB202012448D0 (en) * | 2020-08-11 | 2020-09-23 | Ocado Innovation Ltd | Object presence sensing |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0045174A1 (en) * | 1980-07-24 | 1982-02-03 | Fanuc Ltd. | Gripping device |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3095982A (en) * | 1959-11-30 | 1963-07-02 | Us Industries Inc | Compliant support for material handling apparatus |
US3888362A (en) * | 1973-05-31 | 1975-06-10 | Nasa | Cooperative multiaxis sensor for teleoperation of article manipulating apparatus |
US3904234A (en) * | 1973-10-15 | 1975-09-09 | Stanford Research Inst | Manipulator with electromechanical transducer means |
JPS57113107A (en) * | 1980-12-30 | 1982-07-14 | Fanuc Ltd | Robot control system |
-
1983
- 1983-05-27 US US06/498,881 patent/USH65H/en not_active Abandoned
-
1984
- 1984-04-16 EP EP19840901713 patent/EP0144345A4/en not_active Withdrawn
- 1984-04-16 WO PCT/US1984/000570 patent/WO1984004723A1/en not_active Application Discontinuation
- 1984-04-16 JP JP59501739A patent/JPS60501451A/en active Pending
- 1984-05-25 IT IT21112/84A patent/IT1176215B/en active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0045174A1 (en) * | 1980-07-24 | 1982-02-03 | Fanuc Ltd. | Gripping device |
Non-Patent Citations (2)
Title |
---|
PROCEEDINGS OF SPIE - THE INTERNATIONAL SOCIETY FOR OPTICAL ENGINEERING, INTELLIGENT ROBOTS: THIRD INTERNATIONAL CONFERENCE ON ROBOT VISION AND SENSORY CONTROLS RoViSeC3, 7th-10th November 1983, Cambridge, Massachusetts, vol. 449, part 2, pages 589-595, SPIE - The International Society for Optical Engineering, Washington, US; G. BENI et al.: "Dynamic sensing for robots - An analysis and implementation" * |
See also references of WO8404723A1 * |
Also Published As
Publication number | Publication date |
---|---|
IT8421112A1 (en) | 1985-11-25 |
EP0144345A1 (en) | 1985-06-19 |
USH65H (en) | 1986-05-06 |
WO1984004723A1 (en) | 1984-12-06 |
IT1176215B (en) | 1987-08-18 |
IT8421112A0 (en) | 1984-05-25 |
JPS60501451A (en) | 1985-09-05 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
AK | Designated contracting states |
Designated state(s): DE GB NL SE |
|
17P | Request for examination filed |
Effective date: 19850509 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION HAS BEEN WITHDRAWN |
|
A4 | Supplementary search report drawn up and despatched |
Effective date: 19870302 |
|
18W | Application withdrawn |
Withdrawal date: 19870313 |
|
RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: BENI, GERARDO Inventor name: JACKEL, JANET, LEHR Inventor name: HORNAK, LAWRENCE, ANTHONY1758 RALEIGH COURT Inventor name: HACKWOOD, SUSAN |