DocumentCode
1205201
Title
A kalman filter approach to sensor-based robot control
Author
Johnson, David G. ; Hill, John J.
Author_Institution
University of Hull, England
Volume
1
Issue
3
fYear
1985
fDate
9/1/1985 12:00:00 AM
Firstpage
159
Lastpage
162
Abstract
A means of controlling a sensor-based industrial robot using the C programming language is presented. A special purpose C function is described that allows robot move instructions to be qualified by desired sensor readings and uses the total applied correction to update the estimate of pre-taught locations using a Kalman filter. The system allows rapid specification of sensory feedback tasks and is demonstrated on a current industrial research problem; namely the lay-up of carbon-fiber profiles for assembly into satellite antenna dishes.
Keywords
Feedback systems; Kalman filtering; Robots, sensing systems; Assembly systems; Computer languages; Electrical equipment industry; Feedback; Industrial control; Robot control; Robot sensing systems; Satellites; Sensor phenomena and characterization; Service robots;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Journal of
Publisher
ieee
ISSN
0882-4967
Type
jour
DOI
10.1109/JRA.1985.1087017
Filename
1087017
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