A universal sensor control architecture considering robot dynamics

The paper presents a dynamical sensor control architecture that allows robot arms to perform tasks that with conventional feedback of sensor data fail because of delays or deviations due to the robot dynamics. The architecture distinguishes between robot positional control and refinement of desired positions using vision and/or other sensors. Each of these aspects is designed without the knowledge of the other. Communication between sensors and robot control may be slow and asynchronous. Experiments show vision based control along a seen line at a speed of 0.7 m/s. Path deviations are about 0.6 mm.