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Proceedings Paper

Intelligent Optically Powered Robot Gripper
Author(s): Elzbieta Marszalec; Janusz Marszalec
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Paper Abstract

In the paper an intelligent optically powered robot gripper equipped with optical fiber sensors is proposed. The gripper's sensor system includes single sensor modules C an optical fiber slip sensor and an optical fiber colour sensor ) and systems of sensors (a 3-D optical fiber proximity sensing system, an optical fiber tactile matrix for tactile imaging and a vision system with an optical fiber illuminator, a coherent optical fiber bundle for transmitting an image from the gripper, and a CCD image sensor placed out of the gripper). In the described robot gripper many different sensors have been placed because of the complexity of the analized problems of sensing. In many situations the application of all sensors is unnecessary. The paper gives the procedure of defining the design of a sensor system for an intelligent robot gripper. The procedure determines the number of particular types of sensors for the system and the manner of integrating the sensors with the gripper.

Paper Details

Date Published: 5 January 1989
PDF: 7 pages
Proc. SPIE 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation, (5 January 1989); doi: 10.1117/12.948941
Show Author Affiliations
Elzbieta Marszalec, Technical University of Lublin (Poland)
Janusz Marszalec, Technical University of Lublin (Poland)

Published in SPIE Proceedings Vol. 1003:
Sensor Fusion: Spatial Reasoning and Scene Interpretation
Paul S. Schenker, Editor(s)

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