A Collision Avoidance System for Workpiece Protection
نویسندگان
چکیده
This paper describes an application of Sandia's non-contact capacitive sensing technology for collision avoidance during the manufacturing of rocket engine thrust chambers. The collision avoidance system consists of an octagon shaped collar with a capacitive proximity sensor mounted on each face. The sensors produce electric fields which extend several inches from the face of the colIar and detect potential collisions between the robot and the workpiece. A signal conditioning system processes the sensor output and provides varying voltage signals to the robot controller for stopping the robot. Phis work was supmrted by the United States Department of Energy under Contract DEACo4 94AL85000.
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