| Popis: |
A novel optical fiber proximity sensor for robot is proposed, which has fairly storng compensation abilty to such factors as variation of optical source power and object reflectance. Composed of four receiving optical fiber, the sensor has a simple structure. Utilizing rotation freedom degree of robot's manipulator, it can measure the orientation and distance of the manipulator relative to the object. This paper introduces the operating principle, the necessary and sufficient condition of the sensor's measuring pose, the optimum structure designing method which taking the mininum of measuring values relative error as objective function, emphasis is lays on the detecting technology based on Self Scan Photo Diode Array and the method for measure range enlarging,the sensor's measuring attittude adjusting and real-time data processing of sensor are also gone into detail. |
