H - Electricity – 01 – H
Patent
H - Electricity
01
H
340/136, 294/3
H01H 35/00 (2006.01) B25J 17/02 (2006.01) B25J 19/02 (2006.01)
Patent
CA 1237180
ABSTRACT OF THE DISCLOSURE Apparatus for determing when a gripper or hand resiliently mounted on a robot arm by a set of compliant springs, strikes or makes contact with an object that impedes or limits hand movement. The apparatus includes a light source, preferably mounted in a particular loca- tion on the robot arm hand and a light sensitive device cooperatively mounted in a particular location on the robot arm body, a device that is capable of continuously genera- ting hand-to-robot arm body relative position signals in response to the position of optically focused light from the light source impinging on the light sensitive device. Relative movement between the robot arm body and the robot hand normally resulting from contact between a motion impeding object and the robot hand causes the light sensi- tive device to generate a signal indicative of such object contact and/or extend of relative hand-to-robot arm body movement. This signal may be employed, for example, either to terminate movement of the arm or to cause a particular force to be applied to the object contacted by the robot hand.
451545
Polaroid Corporation
Smart & Biggar
LandOfFree
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