초록 ▼

A distance tracking control system, for use with a working member such as a robotic head, includes a non-contact distance sensor for sensing a distance of the working member from a surface. An actuator is provided for making positional adjustments of the working member in response to changes in the

A distance tracking control system, for use with a working member such as a robotic head, includes a non-contact distance sensor for sensing a distance of the working member from a surface. An actuator is provided for making positional adjustments of the working member in response to changes in the distance sensed by the non-contact distance sensor. A controller is connected to the distance sensor and the actuator. The controller receives data from the non-contact distance sensor and then sends signals to the actuator to make positional adjustments of the working member.

대표청구항 ▼

A distance tracking control system, for use with a working member such as a robotic head, includes a non-contact distance sensor for sensing a distance of the working member from a surface. An actuator is provided for making positional adjustments of the working member in response to changes in the

A distance tracking control system, for use with a working member such as a robotic head, includes a non-contact distance sensor for sensing a distance of the working member from a surface. An actuator is provided for making positional adjustments of the working member in response to changes in the distance sensed by the non-contact distance sensor. A controller is connected to the distance sensor and the actuator. The controller receives data from the non-contact distance sensor and then sends signals to the actuator to make positional adjustments of the working member. 4.12; US-4459267, 19840700, Bunce et al., 422/100; US-4480259, 19841000, Kruger et al., 346/140; US-4489259, 19841200, White et al., 318/696; US-4490728, 19841200, Vaught et al., 346/001.1; US-4590482, 19860500, Hay et al., 346/001.1; US-4593728, 19860600, Whitehead et al., 141/098; US-4708782, 19871100, Andresen et al., 204/299; US-4842701, 19890600, Smith et al., 204/180.1; US-4879097, 19891100, Whitehead et al., 422/067; US-4891120, 19900100, Sethi et al., 204/299; US-4908112, 19900300, Pace, 204/299; US-4983038, 19910100, Ohki et al., 356/246; US-4999493, 19910300, Allen et al., 250/288; US-5015845, 19910500, Allen et al., 250/288; US-5110745, 19920500, Kricka et al., 436/087; US-5126022, 19920600, Soane et al., 204/180.1; US-5132012, 19920700, Miura et al., 210/198.2; US-5162650, 19921100, Bier, 250/288; US-5180480, 19930100, Manz, 204/299; US-5182366, 19930100, Huebner et al., 530/334; US-5245185, 19930900, Busch et al., 250/288; US-5269900, 19931200, Jorgenson et al., 204/299; US-5283036, 19940200, Hofmann et al., 422/070; US-5296114, 19940300, Manz, 204/180.1; US-5296375, 19940300, Kricka et al., 435/291; US-5302533, 19940400, Kricka, 436/537; US-5304487, 19940400, Wilding et al., 435/291; US-5306621, 19940400, Kricka, 435/007.91; US-5328578, 19940700, Gordon, 204/108.1; US-5331159, 19940700, Apffelm, Jr. et al., 250/288; US-5332481, 19940700, Guttman, 204/182.8; US-5338427, 19940800, Shartle et al., 204/299; US-5349186, 19940900, Ikonomou et al., 250/288; US-5374834, 19941200, Geis et al., 257/239; US-5376252, 19941200, Ekstrom et al., 204/299; US-5387329, 19950200, Foos et al., 204/415; US-5401376, 19950300, Foos et al., 204/415; US-5401963, 19950300, Sittler, 250/288; US-5415841, 19950500, Dovichi et al., 422/068.1; US-5421980, 19950600, Guttman, 204/299; US-5423964, 19950600, Smith et al., 204/180; US-5427946, 19950600, Kricka et al., 435/291; US-5429734, 19950700, Gajar et al., 204/299; US-5481110, 19960100, Krishnaswamy et al., 250/288; US-5486335, 19960100, Wilding et al., 422/055; US-5498392, 19960300, Wilding et al., 422/068.1; US-5501883, 19960300, Ishikawa et al., 428/001; US-5501893, 19960300, Laermer et al., 428/161; US-5512131, 19960400, Kumar et al., 156/655.1; US-5512451, 19960400, Kricka, 435/028; US-5523566, 19960600, Fuerstenau et al., 250/282; US-5536939, 19960700, Freidhoff et al., 250/281; US-5541408, 19960700, Sittler, 250/288; US-5563639, 19961000, Cameron et al., 347/034; US-5572023, 19961100, Caprioli, 250/288; US-5608217, 19970300, Franzen et al., 250/288; US-5640010, 19970600, Twerenbold, 250/281; US-5641400, 19970600, Kaltenbach et al., 210/198.2; US-5644131, 19970700, Hansen, 250/292; US-5652427, 19970700, Whitehouse et al., 250/288; US-5705813, 19980100, Apffel et al., 250/288; US-5716825, 19980200, Hancock et al., 435/286.5; US-5747815, 19980500, Young et al., 250/423; US-5750988, 19980500, Apffel et al., 250/288; US-5872010, 19990200, Karger et al., 436/173; US-5877495, 19990300, Takada et al., 250/288; US-5917184, 19990600, Carson et al., 250/288; US-5969353, 19991000, Hsieth, 250/288; US-5993633, 19991100, Smith et al., 204/601; US-5994696, 19991100, Tai et al., 250/288; US-6005245, 19991200, Sakairi et al., 250/281; US-6032876, 20000300, Bertsche et al., 239/418; US-6060705, 20000500, Whitehouse et al., 250/288; US-6066848, 20000500, Kassel et al., 250/288; US-6110343, 20000800, Ramsey et al., 204/601; US-6114693, 20000900, Hirabayashi et al., 250/288; US-6245227, 20010600, Moon et al., 210/198.2 ributed at sensing locales having known locations on said member and separated by known sensor spacing intervals to provide flexure signals indicating the local state of flexure present at said locations; wherein: (1) the measurement member comprises a multiplicity of formed fibers, (2) such fibers being generally non-straight when the medial axis or plane of the member is respectively straight or flat, (3) said formed fibers including sensing fibers having sensing portions which provide said flexure sensors, (4) the sensing portions of different fibers being located at differing distances along said member so as to be located at said sensing locales spaced at said sensor spacing intervals, (5) the overall form of the measurement member being maintained substantially by the form of said formed fibers, alone or by their continuous or repeated contact with each other, to provide the strength or stability of the member. 2. A measuring device according to claim 1, wherein said formed fibers are mutually supporting by virtue of each fiber having continuous or repeated connections to others of said fibers along the length of the fiber. 3. A measuring device according to claim 1, wherein at least most of said formed fibers extend substantially the full length of the member. 4. A measuring device according to claim 1, wherein at least some of said sensing fibers extend substantially the full length of the member. 5. A measuring device according to claim 4, wherein substantially all said sensing fibers extend the full length of the member. 6. A measuring device according to claim 1, wherein only some of said formed fibers extend the full length of the member, said member being tapered. 7. A measuring device according to claim 1, wherein the stiffness of the member is not substantially greater than the total stiffness of said formed fibers. 8. A measuring device according to claim 1, wherein said formed fibers provide a major part of the tensile strength of the member. 9. A measuring device according to claim 1, wherein said member is substantially wholly constituted of said formed fibers, and wherein said fibers are optical fibers including said sensing fibers and other optical fibers used as reference fibers or illuminating fibers or light return fibers. 10. A measuring device according to claim 1 wherein said formed fibers are optical fibers and the sensing portions of the fibers are loss zones which are sensitive to their state of curvature by virtue of areas of their outer surfaces having been made absorbent to light passing along such fibers. 11. A measuring device according to claim 1, wherein said formed fibers are electrical conductors having axial zones the resistance of which is modulated by bending and twisting of said member. 12. A measuring device according to claim 1, wherein said formed fibers are electrical conductors electrically shielded from each other except in axial zones where capacitive coupling is enabled between chosen adjacent fibers, wherein the coupling is modulated by bending and twisting of said member. 13. A measuring device according to claim 10, wherein said formed optical fibers include fibers which maintain a non-straight form by reason of heat treatment. 14. A measuring device according to claim 1, wherein said member is formed as a cyclical structure made up of said formed fibers, which fibers provide said member with sensing locales distributed in a repeating pattern along said member. 15. A measuring device according to claim 1, wherein at least some of said sensing portions of the fibers are obliquely orientated to said medial axis or plane, whereby said member has sensing portions responsive to twisting of the member as well as sensing portions responsive to bending of the member. 16. A measuring device according to claim 1, wherein said measurement member is formed to have cyclically repeating sinuations, which sinuations provide extensibility which is measured by the sensing fibers