Abstract
A sensor was developed which measures the two-dimensional position of small objects within a 25 mm 25 mm (1in.1in.) area. Light emitting diode and phototransistor arrays were mounted within a square housing, conditioned and latched by dedicated circuitry, and controlled and monitored by a single board computer. The programmable device can be externally monitored and controlled, and effectively makes repeatable, non-contact measurements in 115 ms on objects from 5-14 mm (0.2-0.55 in.) in diameter or width. The sensor was very effective in improving performance (from 80 to 98%) in a robotic workcell when inserting geranium cuttings into propagation plugs.
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