Multiple Optical Fiber Proximity Sensing System For Control Of Operation Of Industrial Robot Gripper In Assembly Process

Abstract

One of most important part of a total sensory system of a robot is a proximity sensing system, which must operate continuously during the work of the robot. In the paper a multiple optical fiber proximity sensing system developed for a robot gripper is described. The system performs a 3 - dimensional proximity sensing and is employed for the detection and localisation of an object before grasping it and then for the correct orientation of the gripper when grasping the object. In the paper conception of the system is presented. Some types of proximity sensor modules are described and they arrangement in robot grippers of different construction (2-and 3-fingered gripper) is suggested. Some remarks on the integration of multiple optical fiber proximity sensing system with the robot are given and the algorithm of the operation of the robot equipped with the sensor system is described. Although the multiple optical fiber proximity sensing system has been developed for robotics, it can also be used as multi point distance measuring system in other industrial automation systems.