Abstract
Last trend in the development of the adaptive robotic assembly sites requires from robots the imitation of the human behavior, namely the sensing of the forces for the fine positioning. For typical tasks at robotic assembly operations it is sufficient to insert a sensor between the wrist and the end effector. The paper solves the task of the sensory feedback for assembly operation - new method of optical scanning of the mutual position between the wrist and the end effector at elastic deformation for six degrees of freedom and following evaluation of the translation and rotation in the perpendicular coordinate system is there introduced. The method of optical scanning is based on only one quadrat CCD or PSD element and five laserdiodes. The constructions suitable for the active compliant link as well as for the microelastic deformation there are described too. Tree evoluation algorithm allowes real time processing of the six-component force-torque control and compact construction by single chip microcontroller.
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