A multielement ultrasonic (US) ranging array has been realized for mounting on an articulated robotic finger. The ranging system consists of concave piezoelectric polymer-based US transducers arranged in a three-dimensional (3D) `lsfoveal'rs disposition so that the transducer radius decreases and the working frequency increases from the base towards the tip of the finger. Each undulated element is connected to a computer-controlled scanning and amplifying electronic unit, and operates either as a transmitter or a receiver. The general features of the US sensor array are discussed and the problems of detecting and reconstructing by triangulation the orientation of randomly located surfaces, of detecting the presence of 3D objects and of reconstructing their shape by US proximity sensing, are addressed. © 1989.
An ultrasonic range sensor array for a robotic fingertip
Fiorillo A. S.;
1989-01-01
Abstract
A multielement ultrasonic (US) ranging array has been realized for mounting on an articulated robotic finger. The ranging system consists of concave piezoelectric polymer-based US transducers arranged in a three-dimensional (3D) `lsfoveal'rs disposition so that the transducer radius decreases and the working frequency increases from the base towards the tip of the finger. Each undulated element is connected to a computer-controlled scanning and amplifying electronic unit, and operates either as a transmitter or a receiver. The general features of the US sensor array are discussed and the problems of detecting and reconstructing by triangulation the orientation of randomly located surfaces, of detecting the presence of 3D objects and of reconstructing their shape by US proximity sensing, are addressed. © 1989.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
