By Topic

The use of multisensor data for robotic applications

Sign In

Full text access may be available.

To access full text, please use your member or institutional sign in.

Formats Non-Member Member
$33 $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

2 Author(s)
M. A. Abidi ; Dept. of Electr. & Comput. Eng., Tennessee Univ., Knoxville, TN, USA ; R. C. Gonzalez

The feasibility of realistic autonomous space manipulation tasks using multisensory information is shown through two experiments involving a fluid interchange system and a module interchange system. In both cases, autonomous location of the mating element, autonomous location of the guiding light target, mating, and demating of the system are performed. Specifically, vision-driven techniques were implemented that determine the arbitrary two-dimensional position and orientation of the mating elements as well as the arbitrary three-dimensional position and orientation of the light targets. The robotic system is also equipped with a force/torque sensor that continuously monitors the six components of force and torque exerted on the end effector. Using vision, force, torque, proximity, and touch sensors, the fluid interchange system and the module interchange system experiments were accomplished autonomously and successfully

Published in:

IEEE Transactions on Robotics and Automation  (Volume:6 ,  Issue: 2 )