Title :
Dynamic multi-sensor data fusion system for intelligent robots
Author :
Luo, Ren C. ; Lin, Min-Hsiung ; Scherp, Ralph S.
Author_Institution :
Dept. of Electr. & Comput. Eng., North Carolina State Univ., Raleigh, NC, USA
fDate :
8/1/1988 12:00:00 AM
Abstract :
The objective of the authors is to develop an intelligent robot workstation capable of integrating data from multiple sensors. The investigation is based on a Unimation PUMA 560 robot and various external sensors. These include overhead vision, eye-in-hand vision, proximity, tactile array, position, force/torque, cross-fire, overload, and slip-sensing devices. The efficient fusion of data from different sources will enable the machine to respond promptly in dealing with the `real world´. Towards this goal, the general paradigm of a sensor data fusion system has been developed, and some simulation results, as well as results from the actual implementation of certain concepts of sensor data fusion, have been demonstrated
Keywords :
artificial intelligence; computer vision; industrial robots; position measurement; tactile sensors; workstations; Unimation PUMA 560 robot; artificial intelligence; computer vision; cross-fire sensor; eye-in-hand vision; force/torque sensor; industrial robots; intelligent robots; multi-sensor data fusion system; overhead vision; position measurement; position sensor; proximity sensor; slip-sensing devices; tactile array; tactile sensors; Automatic control; Control systems; Intelligent robots; Intelligent sensors; Layout; Robot sensing systems; Robotics and automation; Sensor fusion; Sensor systems; Temperature sensors;
Journal_Title :
Robotics and Automation, IEEE Journal of
