Positioning method using polarization-detecting optical sensor for precision robot systems

Masao Sakai; Akira Nagayama; Kunihiko Sasakura

doi:10.1117/12.25343

1 March 1991 Positioning method using polarization-detecting optical sensor for precision robot systems

Masao Sakai, Akira Nagayama, Kunihiko Sasakura

Proceedings Volume 1385, Optics, Illumination, and Image Sensing for Machine Vision V; (1991) https://doi.org/10.1117/12.25343
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

A new positioning method using an optical pick-up sensor is demonstrated for an automated subscriber wire distributing frame at the front-end of a telephone switching station called Automated Main Distributing Frame. The wiring operation has been replaced by automated pin insertion into a matrix board which has recently been developed from printed circuit board technology. This positioning method achieves two-dimensional positioning accuracy of 15 im on dynamic strokes across an area of a few meters square. Optical disk pick-up and printed circuit board technologies are employed to achieve such accuracy on a wide stroke. A sensor employing two polarized lights and three position-sensitive devices can detect three-dimensional displacement and two-dimensional inclination from the target guide pattern on the matrix board. We applied this new positioning method to an automated main distributing frame prototype system. Positioning experimerits performed using a cylindrical coordinate motion mechanism with a stroke of 1 . 8 m have obtained two-dimensional p0- sitioning accuracy within 1 5pm. The results confirm the feasibility of highly accurate positioning and insertion of a small pin into a closely spaced crosspoint hole in a matrix board. This will lead to precise and reliable positioning for an automated main distributing frame in an automated subscriber wiring operation in a telephone switching station.

Citation Download Citation

Masao Sakai, Akira Nagayama, and Kunihiko Sasakura "Positioning method using polarization-detecting optical sensor for precision robot systems", Proc. SPIE 1385, Optics, Illumination, and Image Sensing for Machine Vision V, (1 March 1991); https://doi.org/10.1117/12.25343

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available