The issues and approaches of a robot multi-sensor integration.
Journal
Proceedings of the 1987 IEEE International Conference on Robotics and Automation, Raleigh, North Carolina, USA, March 31 - April 3, 1987
Pages
1941-1946
Date Issued
1987
Author(s)
Abstract
The objective of this paper is to develop an intelligent robot system through the integration of multiple sensors into robot tasks. The investigation is based on a Unimation PUMA 560 robot employing various external sensors. These sensors include overhead vision, eye-in-hand vision, proximity, tactile array, position, force/torque, cross-fire, overload and slip. The efficient machine representation of acquired sensory knowledge will enable robots to deal with the "real world". The general paradigm of a sensor data fusion system has been developed. This system will allows the robot to handle uncertainty in sensory data as well as to verify and recover sensor errors.
Type
conference paper