A flexible joint robot in cooperative arm tasks using sensor fusion

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.