MICRO-GUIDANCE OF PICK-AND-PLACE ROBOTS VIA TASK-SPACE SENSING

摘要

In this paper, a line-of-sight-sensing based guidance methodology is proposed for the localization of robotic end-effectors in high-precision (i.e., micron or sub-micron accuracy) pick-and-place applications. The novelty of the overall system is its applicability to cases that do not allow for the direct proximity measurement of the end-effector's pose. The proposed iterative guidance algorithm utilizes a pseudo-PD function to minimize the systematic errors of the end-effector, while allowing the pose of the end-effector to converge within the random noise limits. The system has been experimentally tested for a three-dof planar parallel manipulator.