Light Beam Stiffening Of Flexible Robot Arms

Abstract

The structure and hence geometry of present day robots is outside the actuator control loop. Accuracy under changing load conditions requires a rigid and therefore massive structure. The performance may be improved by use of lighter structures with sensing and feedback control of the elastic modes and damping. This paper describes a sensing method based on a system of internal light beams and photodetectors that provides end-point sensing and structural deformation information necessary for high performance control.