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