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22 December 1995 Tactile sensing and force control for robotic applications
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The purpose of this work is to employ multiple modular control laws to enable a robot to move through a constrained environment and recognize the objects that are encountered. The two major tasks assigned to the robot are data collection for navigation and object recognition. These basic functions are the tasks involved in accomplishing many robotic applications. Data is collected in the work space by sensing the position of objects of interest. The robot has the capability to sense position in two ways. The robot may touch the end effector to a point in the work space and note the position of the contact point. The robot may also identify objects visually through use of a camera. The advantage of the system presented here is the modular design of the controllers. The system may operate using only one or a combination of the sensors. The decision regarding which sensors are appropriate is made according to the environmental conditions and the task requirements. The system makes this decision by computing an associated numerical measure of the confidence of success and processing cost for each sensor. The system is tested using two different experimental situations to show that the decision criteria applies in general. The system determines how to use the sensors to gather data in an inspection experiment and a maze navigation experiment.
© (1995) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Kelly A. Korzeniowski "Tactile sensing and force control for robotic applications", Proc. SPIE 2595, Machine Tool, In-Line, and Robot Sensors and Controls, (22 December 1995);


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