Dynamic Sensing for Robots: An Analysis and Implementation

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Abstract
Dynamic sensing is discussed in detail. We have initiated a systematics of robotic sensor design by formulating the general problems and addressing the specific question of how to arrange the sensing elements. We have derived a general relationship between the number and speed of the sensing elements as a function of their response and processing times. We have thus constructed afiber-optic sensor for the fingers of a Unimation Puma 500 robot. The sensor consists of three linear arrays ( each with 12 sensing elements), attached to the edges of the robot fingers in a U shape. The elements are composed of parallel, equally spaced, collimated light beams that pass from finger to finger. Each linear array can be scanned dynamically to provide a 12 X 18 = 256-pixel cov erage of a 2 X 3-cm area.

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