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Proceedings Paper

Capaciflector sensor imaging and ranging applications for robot control
Author(s): Semion Kizhner
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Paper Abstract

One basic robotics task is to position a robot tool point over the geometric center of a symmetric object. This paper presents a fully autonomous control command development technique of linear complexity that solves the robot tool point centering and alignment problem. It is based on non-visual sensor imaging and starts with only a partial image of the target in its field of view. A new capacitive proximity and imaging sensor, called a capaciflector, is being used to obtain 2D discrete images of objects with moderate surface complexity. Considered are spacecraft parts whose imaged surfaces are flat with a simple geometrical shape such as a solid rectangle or a circle.

Paper Details

Date Published: 21 December 1993
PDF: 11 pages
Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); doi: 10.1117/12.164923
Show Author Affiliations
Semion Kizhner, NASA Goddard Space Flight Ctr. (United States)

Published in SPIE Proceedings Vol. 2057:
Telemanipulator Technology and Space Telerobotics
Won Soo Kim, Editor(s)

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