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Integration of multiple sensors to provide flexible control strategies

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4 Author(s)
Ruokangas, C. ; Rockwell Science Center, Thousand Oaks, CA ; Black, M.S. ; Martin, J.F. ; Schoenwald, J.S.

The design and operation of an experimental robot workstation that adaptively responds to a disordered or changing environment are presented. The adaptive control is provided by the use of several sensor subsystems in a distributed architecture workcell. Included in the workstation are a commercial 6-axis robot, a microprocessor-based vision subsystem, an acoustic-ranging sensor subsystem, and a force-torque sensing subsystem; each subsystem is microprocessor based, and supervisory control is provided by a workcell host computer. Five demonstrations of adaptive control are described, including real-time path modification by single sensors and integrated use of multiple sensors.

Published in:

Robotics and Automation. Proceedings. 1986 IEEE International Conference on  (Volume:3 )

Date of Conference:

Apr 1986