Light Beam Stiffening Of Flexible Robot Arms

Robert A. Boie

doi:10.1117/12.950796

11 December 1985 Light Beam Stiffening Of Flexible Robot Arms

Robert A. Boie

Proceedings Volume 0579, Intelligent Robots and Computer Vision IV; (1985) https://doi.org/10.1117/12.950796
Event: 1985 Cambridge Symposium, 1985, Cambridge, United States

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.

Citation Download Citation

Robert A. Boie "Light Beam Stiffening Of Flexible Robot Arms", Proc. SPIE 0579, Intelligent Robots and Computer Vision IV, (11 December 1985); https://doi.org/10.1117/12.950796

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