TECHNOLOGICAL ROBOT Russian patent published in 1995 - IPC

FIELD: robotics. SUBSTANCE: mechanism checking position of manipulator is installed in vacuum chamber in the form of light optical system having source of radiation mounted outside of chamber, two light-deflection prisms placed on manipulator, radiation detectors anchored outside of chamber in proper places. Hermetic transparent windows to let through light flux from light source to radiation detectors are located in walls of chamber opposite to detectors and source. With programmed translations of manipulator illumination of corresponding radiation detector takes place by which signals going to control system check of manipulator position is carried out. EFFECT: increased reliability of operation and precision of positioning of manipulator. 2 dwg