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Micropositioning apparatus for a robotic arm

  • US 4,808,064 A
  • Filed: 12/05/1985
  • Issued: 02/28/1989
  • Est. Priority Date: 12/05/1985
  • Status: Expired due to Fees
First Claim
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1. A micropositioning apparatus for a robotic device having a load bearing arm having a first end pivotally connected to a base and a second end for supporting a load, comprising:

  • means for detecting the angular orientation of the arm with respect to the base;

    measuring means for optically measuring translational deflections of the arm, the measuring means having a target disposed at one end of the arm and means, disposed at the opposite end of the arm, for detecting displacement of the target, wherein the target comprises a plurality of light sources generally disposed in a common plane and at least one light source disposed outside said plane; and

    means for pivoting the arm relative to the base to achieve a desired arm position based upon the detected angular orientation and the measured deflections.

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