Abstract
The problem of slip detection has to be explored so that an industrial robot may grasp objects with the minimum grasping force. The method of nontactile slip detection is described in this paper. The intensity of reflected light from an object surface at the position of fringes of the phenomenon of two-beam interference is converted to digital data by using a photo transistor and an A/D converter. A micro computer can detect slip by calculating the auto correlation 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 converted from a laser beam by a grating.
