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Proceedings Paper

Light Beam Stiffening Of Flexible Robot Arms
Author(s): Robert A. Boie
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Paper 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.

Paper Details

Date Published: 11 December 1985
PDF: 2 pages
Proc. SPIE 0579, Intelligent Robots and Computer Vision IV, (11 December 1985); doi: 10.1117/12.950796
Show Author Affiliations
Robert A. Boie, AT&T Bell Laboratories (United States)

Published in SPIE Proceedings Vol. 0579:
Intelligent Robots and Computer Vision IV
David P. Casasent, Editor(s)

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