Dynamic Multi-Sensor Data Fusion System for Intelligent Robots
Journal
IEEE Journal of Robotics and Automation
Journal Volume
4
Journal Issue
4
Pages
386-396
Date Issued
1988-08
Author(s)
Abstract
The objective of this paper 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, over-load, and slipsensing devices. The efficient fusion of data from difierent 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. © 1988 IEEE
SDGs
Type
journal article