By Topic

Robot Systems Completely Based on Sensory Feedback

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Hirzinger, Gerhard ; Institute for Flight Systems Dynamics, Deutsche Forschungs-und Versuchsanstalt fur Luft-und Raumfahrt e. V. (DFVLR), D-8031 Oberpfaffenhofen/Wessling, W. Germany.

This paper tries to outline a unified concept for the outer sensory feedback loop in a robot system. The problem of teaching a robot a certain task including continuous sensory information is simplified by introducing several generalizing definitions relating positions/orientations and (pseudo-) forces/torques. Paths are generated via sensor patterns in the teach phase. Motion commands and sensor data are stored together. The latter ones are then available as reference values for the repetition mode in a possibly changing environment. It is shown that the proposed techniques are equally applicable to different kinds of sensors such as force-torque-sensors, range finders, or inductive sensors. The ``sensor-ball'' technique as developed at DFVLR is discussed as one physical realization.

Published in:

Industrial Electronics, IEEE Transactions on  (Volume:IE-33 ,  Issue: 2 )