Fiber optic based robot controls
AssigneeDiffracto Ltd.
InventorTimothy R. Pryor
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Abstract
Optical sensing means, such as an optical image-forming system, is provided on the gripper of a robot and positioned to sense an object to be gripped. A signal, such as an image of the object or a portion thereof, is transmitted from the sensor to a remote detector via a fiber optic cable. A control signal, responsive to the detected signal from the sensor, is generated to actuate the robot arm and gripper to effect gripping of the object. The invention has broad applicability in that it is extremely light-weight and can be mounted on the gripper. The invention has particular adaptability to a fluid-actuated robot: in that instance the entire robot, including object sensing means and actuation means, is non-electrical and can be used in explosive environments.
Claims36
In a method of controlling a robot, said robot having a moveable arm, a gripper mounted on said arm, and means for actuating said arm and said gripper for gripping an object, said method comprising:
- providing sensing means for sensing an object to be gripped by said gripper, said sensing means comprising means for generating a sensing signal responsive to the sensing of an object;
- providing detector means for detecting said sensing signal;
- transmitting said sensing signal to said detector means;
- generating a control signal responsive to said detected sensing signal;
- and
- transmitting said control signal to said actuating means to effect gripping said object,
- the improvement being the providing of a plurality of discrete optical sensing means which generate a plurality of optical sensing signals and the mounting of the discrete sensing means on said gripper, the locating of said detector means remote from said arm and gripper, and the transmitting of the plurality of optical sensing signals by a fiber optic cable to the detector means.
A method according to claim 14 wherein said image forming means comprises a lens and the rotating of the viewing axis of said lens.
In an apparatus for controlling a robot, said robot having a moveable arm, a gripper mounted on said arm, and means for actuating said arm and said gripper for gripping an object, said apparatus comprising:
- optical sensing means for sensing an object to be gripped by said gripper, said sensing means comprising means for collecting a sensing light signal from light received from the object;
- detector means for detecting said sensing signal;
- means for transmitting said sensing signal to said detector means;
- means for generating a control signal responsive to said detected sensing signal;
- and
- means for transmitting said control signal to said actuating means to effect gripping said object,
- the improvement wherein said sensing mean comprises a plurality of discrete optical sensing means mounted on said gripper, wherein said detector means is located remote from said arm and said gripper, wherein said sensing signal is a plurality of optical signals, and wherein said optical sensing signals transmitting means comprises a fiber optic cable.
Dependencies are inferred from the claim text.