Planning of sensory feedback in industrial robot workcells

In this paper, we present a method for planning the sensing features when the geometrical representation of the target object is known. The presented method is a synthesis form and can be used in several measurement applications in robotics. Sensing planning is an important issue when the measurement data is sparse, includes a lot of noise or there are tight time-requirements. The criteria for selecting the measurement locations and orientations is a posteriori error covariance matrix of the parameters to be estimated. The presented approach is verified by simulation tests in the case of work object location. The proposed method has been implemented into a commercial ConiferRob-robot software