Title :
Extended Kalman filtering for robotic proximity sensing
Author :
Li, Y.F. ; Daniel, R.W. ; Sharkey, P.M.
Author_Institution :
Dept. of Eng. Sci., Oxford Univ., UK
Abstract :
The authors address the problems in using a fiber-optic proximity sensor to detect robot end-effector positioning errors in performing a contact task when uncertainties about target position exist. An extended Kalman filter approach is employed to solve the nonlinear filtering problem. Some experimental results are given
Keywords :
Kalman filters; fibre optic sensors; filtering and prediction theory; manipulators; position control; end-effector; fiber-optic proximity sensor; nonlinear filtering; positioning errors; robotic proximity sensing; Equations; Filtering; Kalman filters; Optical fiber filters; Optical fiber sensors; Optical filters; Optical sensors; Robot sensing systems; Sensor phenomena and characterization; Uncertainty; Voltage;
Conference_Titel :
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Conference_Location :
Brighton
Print_ISBN :
0-7803-0450-0
DOI :
10.1109/CDC.1991.261481
