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Proceedings Paper

Robot Eye-In-Hand Using Fiber Optics
Author(s): Arun Agrawal; Max Epstein
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Paper Abstract

For many applications, eye-in-hand robot vision has several advantages over the use of a fixed external camera. Even smaller solid state cameras are too bulky for gripper mounting and, therefore, limit the gripper's movement for many operations. A novel approach for eye-in-hand robot vision is proposed utilizing, a) coherent fiber-optic bundles for carrying light from an object to be imaged, and b) photodiodes to convert this light into electrical signals for processing. The feasibility of this concept has been experimentally demonstrated by developing a fiber-optic eye-in-hand system, mounting the scanner head on a gripper and obtaining good images under back and front light conditions.

Paper Details

Date Published: 16 February 1984
PDF: 6 pages
Proc. SPIE 0449, Intelligent Robots: 3rd Intl Conf on Robot Vision and Sensory Controls, (16 February 1984); doi: 10.1117/12.939222
Show Author Affiliations
Arun Agrawal, Gould Research Center (United States)
Max Epstein, Northwestern University (United States)


Published in SPIE Proceedings Vol. 0449:
Intelligent Robots: 3rd Intl Conf on Robot Vision and Sensory Controls
David P. Casasent; Ernest L. Hall, Editor(s)

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