ROBOT END-EFFECTOR ORIENTATION CONTROL USING PROXIMITY SENSORS

By virtue of their high accuracy and fast response, intensity-based fibre optic proximity sensors have found applications in robot end-effector position control. Unfortunately, their characteristics show that the sensor is incapable of orientation sensing. To detect robot orientation errors, a multi-sensor approach is adopted and a detection strategy developed. The problems with real-time orientation control are studied in the context of general robot Cartesian space position control. The performance of the proposed strategy has been tested on a PUMA 560 robot and the results are presented in this paper. Successful applications of the strategy developed are demonstrated in target tracking and surface following.