Page 29 - Rapid Learning in Robotics

2.1 Actuation: The Puma Robot 15

Figure 2.4: The endeffector. (left:) Between the arm and the hydraulic hand, the
cylinder shaped FTS device can measure current 6 D force torque values. The
three finger modules are mounted here symmetrically at the 12 sided regular
prism base. On the left side, the color video camera looks at the scene from an
end-effector fixed position. Inside the flat palm, a diode laser is directed in tool
axis, which allows depth triangulation in the viewing angle of the camera.