抄録
This paper describes a three-dimensional position detecting method that uses a photoelectric sensor for precise positioning of a robot hand. The output of the sensor is proportional to the power of the light reflected by a target. Therefore it changes according to the position of the target. In detecting the X position, the robot hand that is gripping the target scans in the X direction in front of the fixed sensor. The position of the sensor can be detected using the relation between the position of the target and sensor output. In detecting the Y and Z positions, the hand scans in the Y and Z direction in the same way it does for the X detection. The deviation error caused by the difference of the scanning position is less than 50μm, which confirms the feasibility of our position detecting method.
