Capaciflector sensor imaging and ranging applications for robot control

Semion Kizhner

doi:10.1117/12.164923

21 December 1993 Capaciflector sensor imaging and ranging applications for robot control

Semion Kizhner

Proceedings Volume 2057, Telemanipulator Technology and Space Telerobotics; (1993) https://doi.org/10.1117/12.164923
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

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.

Citation Download Citation

Semion Kizhner "Capaciflector sensor imaging and ranging applications for robot control", Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); https://doi.org/10.1117/12.164923

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