Abstract: An optical disk drive is disclosed in which sensing the position of a tilting prism driven by a fine tracking actuator uses the optical beam prior to its interaction with an optical disk. The optical beam emitted by a laser is redirected by the tilting prism. Most of the optical beam is reflected by the tilting prism in a direction through an objective lens for focused interaction with an optical disk. assuming a disk is mounted in the optical disk drive. The remainder of the optical beam is transmitted through the tilting prism, including any offset of the beam resulting from the refraction characteristics of the tilting prism, and received by a split far field detector. The split far field detector measures the offset of the optical beam which is a direct measure of the rotational position of the tilting prism. A relative position error signal is then generated and input to the coarse tracking actuator to coordinate its operation with that of the fine tracking actuator.

Abstract: The invention is an optical disk drive which controls mechanical feedback to a focus servo actuator by shifting the phase of the feedback along its path back to the servo an additional 180 degrees to eliminate the degradation of the phase margin and prevent servo instability. The phase shift may be induced at any practical location along the feedback path. The phase shift is preferably induced by creating a slit or opening in the base of the optical disk drive. The opening must be positioned properly, shaped appropriately, and large enough to create a new base resonant frequency which prevents the opposite sides thereof from vibrating in phase. Alternatively, the phase shift may be induced by altering other components in the feedback path. For example, the phase shift can be induced by modifying the spindle motor assembly to create a new spindle resonant frequency.

Abstract: A gripper pad or gripper tool changer for a multi-axis manipulator is provided which is capable of automatically attaching in locked position a selected pair of a plurality of gripper pads or tools to the fingers of a gripper. Each pair of gripper pads or tools are mounted in a holder mechanism which is attached to a surface within the work envelope of the manipulator. The pairs of gripper pads or tools are picked up from the holder and attached and locked to the gripper fingers by controlled movement of the manipulator. A pair of gripper pads or tools are returned to the holder by controlled maneuvering of the gripper into the holder such that unlocking means associated therewith provide unlocking of the gripper pads or tools from the gripper fingers so that the gripper pads or tools can be detached from the gripper fingers. Error detection of missing or displaced finger tools in a pickup operation is provided.

Abstract: A multi-degree of freedom force transducer is provided for measuring forces applied to gripper fingers in a manipulator when grasping an object therebetween. The transducer includes a pair of force sensor assemblies rigidly connected at a first end to a respective finger and at a second end to a drive member for the gripper. A plurality of parallel beam structures are contained in each of the force sensor assemblies, each consisting of a pair of flat parallel flexure members, each member bridging opposite sides of a gap in the structure. These parallel beam structures are oriented so that the axis perpendicular to the planar surfaces of the parallel flexure members are orthogonal to one another, providing the capability of measuring the force applied to an object held by the gripper in the X, Y and Z axial directions.