Robot Eye-In-Hand Using Fiber Optics

Arun Agrawal; Max Epstein

doi:10.1117/12.939222

16 February 1984 Robot Eye-In-Hand Using Fiber Optics

Arun Agrawal, Max Epstein

Proceedings Volume 0449, Intelligent Robots: 3rd Intl Conf on Robot Vision and Sensory Controls; (1984) https://doi.org/10.1117/12.939222
Event: 1983 Cambridge Symposium, 1983, Cambridge, United States

Abstract

For many applications, eye-in-hand robot vision has several advantages over the use of a fixed external camera. Even smaller solid state cameras are too bulky for gripper mounting and, therefore, limit the gripper's movement for many operations. A novel approach for eye-in-hand robot vision is proposed utilizing, a) coherent fiber-optic bundles for carrying light from an object to be imaged, and b) photodiodes to convert this light into electrical signals for processing. The feasibility of this concept has been experimentally demonstrated by developing a fiber-optic eye-in-hand system, mounting the scanner head on a gripper and obtaining good images under back and front light conditions.

Citation Download Citation

Arun Agrawal and Max Epstein "Robot Eye-In-Hand Using Fiber Optics", Proc. SPIE 0449, Intelligent Robots: 3rd Intl Conf on Robot Vision and Sensory Controls, (16 February 1984); https://doi.org/10.1117/12.939222

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