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Non-tactile slip sensor using the method of autocorrelation with signals of reflected light

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The problem of slip detection has to be explored so that an industrial robot can grasp objects with the minimum grasping force. The method of non-tactile slip detection is described in this paper. The intensity of the light reflected from the surface of an object at the position of fringes of the phenomenon of two-beam interference is converted into digital data by using a photo-transistor and an A/D converter. A micro-computer can detect slip by calculating the autocorrelation with the digital data converted from the light intensity. The fringe on the object is made from a lens and two laser beams which are produced from a single beam by a grating.

Document Type: Research Article


Affiliations: 1: Nagoya University, Furo-cho, chikusa-ku, Nagoya, Japan 2: Nakanosumise, 2-6, Nakamura-cho, Handa-shi, Aichi, Japan 3: Toyota Technological Institute, 2, Hisakata, tenpaku-ku, Nagoya, Japan

Publication date: January 1, 1987


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