DocumentCode :
2127560
Title :
A flexible joint robot in cooperative arm tasks using sensor fusion
Author :
Dodds, G. ; Wilson, G. ; Cao, B.
Author_Institution :
Dept. of Electr. & Electron. Eng., Queen´´s Univ., Belfast, UK
Volume :
1
fYear :
1994
fDate :
21-24 March 1994
Firstpage :
571
Abstract :
A range of multi-arm cooperative tasks are described. The sensing needs of several of these tasks, e.g. for multi-arm assembly and processing tasks, are then given. The multi-arm environment contains by default correlated and dependent sensor information. The use of this information is described in terms of calibration, on-line indirectly inferred parameter estimation and enhanced measurement of variables from multiple sensors. A description of the derivation of specific errors is also given. The use of fused data for variable structure multi-rate control is specifically described. A description of the problems and advantages of flexible joints are also given.
Keywords :
calibration; cooperative systems; manipulators; parameter estimation; position control; sensor fusion; variable structure systems; calibration; cooperative arm tasks; flexible joint robot; multi-arm assembly; multi-arm cooperative tasks; on-line indirectly inferred parameter estimation; sensor fusion; variable structure multi-rate control;
fLanguage :
English
Publisher :
iet
Conference_Titel :
Control, 1994. Control '94. International Conference on
Conference_Location :
Coventry, UK
Print_ISBN :
0-85296-610-5
Type :
conf
DOI :
10.1049/cp:19940195
Filename :
327082
Link To Document :
بازگشت