Abstract: An industrial robot is controlled to move by increments and approximately track an edge or a joint. A structured light pattern such as two parallel light bars is projected onto the workpiece and the scene is imaged by a visual sensor. Information derived from the image is used to compute move vectors. The navigation algorithm is based on extracting and computing the next move vector from the visual scene while the current move vector is being executed. The positioning system of an arc welding robot approximately follows the joint to be welded; the computed microvectors specify the direction and distance the positioning system moves.

Abstract: A high quality velocity signal is generated from an incremental position encoder, thus eliminating the DC tachometer in robot and machine tool closed loop control systems. The encoder signals are used to amplitude modulate the outputs of a high frequency oscillator. Two side band frequencies equal to the sum and difference of the encoder and oscillator frequencies are produced and converted to analog voltages and summed to yield a speed signal. This signal is continuous through zero rate and has a polarity determined by direction of rotation.

Abstract: A tactile area sensor for robots has an array of pneumatic flow passages. The air flow in each passage is dependent on a localized force exerted by an object pressing against an elastic pad on the face of the sensor. The air flow impinges on a metallic tab and its angular displacement is sensed by directing a light beam from an optical fiber onto the tab and monitoring the quantity of light reflected to a paired optical fiber. The array of optical outputs can be presented to a charge injection device and are dependent on the shape of the object.

Abstract: A flowmeter of the fluid oscillator type having a fluid jet which oscillates at a frequency indicative of flow rate. By elimination of wall attachment effects and use of a proportional type amplifier, the range of the flowmeter is substantially extended beyond the limit of turbulent flow conditions. Linearity is improved by use of a differential pressure type of fluid jet control and the range may be further extended by use of multiple amplifier stages.

Abstract: A flowmeter of the fluid oscillator type having a fluid jet which oscillates at a frequency indicative of flow rate. A linear flow rate vs. frequency output characteristic is obtained by use of a fluid accelerating means in the form of a two-dimensional sharp edge orifice. The orifice has an aspect ratio selected to give a constant coefficient of discharge throughout an extended flow range including laminar and turbulent flow conditions.