抄録
This paper describes composite sensor for industrial robot, which detects both distance and slip. The fringe of interference by two laser beam is made by the sensor on the surface of an object which robot will hold. When the sensor is moved pararell to the surface of an object, the intensity of reflected light from the position of fringe changes periodically. And distance is calculated from the period of signal, which is proportional to distance. When slip occurs after robot holds an object, signal changes peiodically again because an object moves to the sensor relatively, and slip velocity can be calculated. Shape, position and orientation of an object can also be detected by measuring distance to several points.
