Development of One Board, USB Type High-Speed, High-Precision Proximity Sensor and Analysis of Pre-grasp Control

Abstract

We developed an one board, USB power supply type proximity sensor. The sensor can measure distance (0〜30[mm]) and tilt angles (-45 to +45[degree]) within 1ms. The resolution of distance measurement is less than 26.7[μm], and average error is less than 33.1[μm] in close distances. The sensor is suitable for robot application such as control of fingertip position precisely at high speed. For the control, we describe a method of setting an optimum gain that combines an evaluation function calculation and an asymptotic stability analysis.