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Proceedings Paper

End-Point Deflection And Slope Measurements Of A Flexible Robot Arm
Author(s): Woosoon Yim
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Paper Abstract

The increasing demand for the light-weight elastic manipulator requires the accurate means of measuring end-point deflection and slope of each link due to its flexibility. The end-effector position and orientation of an elastic robot depends on both link tip deflection and slope in addition to the joint angles. In other words, for an accurate control of end-effector position and orientation, the link tip deflection and slope should be measured using any sensory devices. The proposed system uses a laser beam to measure two-dimensional deflection and slope angle and can be utilized for static and dynamic correction of robot end-effector position using the appropriate control schemes.

Paper Details

Date Published: 9 November 1989
PDF: 10 pages
Proc. SPIE 1167, Precision Engineering and Optomechanics, (9 November 1989); doi: 10.1117/12.962940
Show Author Affiliations
Woosoon Yim, University of Nevada (United States)


Published in SPIE Proceedings Vol. 1167:
Precision Engineering and Optomechanics
Daniel Vukobratovich, Editor(s)

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