Light Beam Stiffening Of Flexible Robot Arms

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Abstract
The structure and hence geometry of present day robots is outside the actuator control loop. Accuracy under changing load conditions requires a rigid and therefore massive structure. The performance may be improved by use of lighter structures with sensing and feedback control of the elastic modes and damping. This paper describes a sensing method based on a system of internal light beams and photodetectors that provides end-point sensing and structural deformation information necessary for high performance control.© (1985) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.

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