光路制限カバーと複数素子を用いた距離・傾きを測定可能な光学反射式近接覚センサ

抄録

A conventional pre-grasping control using a photo-reflective proximity sensor keeps the distance to the object constant by keeping the total photo-current constant. However, since the total current depends on the reflectivity and shape of the object, calibration is required for each object. In this paper, we focus on co-point ( distance at which the sensor outputs of two photo-transistors are equal) as a physical index independent of the object, and propose a method to control the distance based on the magnitude relation of the sensor outputs. By this method, the distance to the object can be kept constant without calibration.In addition, by making the optical path limiting cover, the directivity of the LED of the proximity sensor is artificially changed, which enables the LED to play multiple roles in the pre-grasping control: distance correction and tilt correction.