Proximity sensor technology for manipulator end effectors

Optical proximity sensing devices suitable for hand mounting on a manipulator are described, which use near IR LED light sources operating at 0.94 micron and silicon detectors, with appropriate signal processing so that the data are unaffected by ambient light. Laboratory tests with simple proximity sensors are described. Extension of the same techniques to yield multipoint or digital sensors is also discussed. A cooperative proximity sensor concept is described, which employs a composite mirror attached to the work piece to generate an unambiguous set of position and orientation signals. A very rudimentary experiment in local control of a manipulator with a pair of hand mounted proximity sensors is also described.