Dynamic multi-sensor data fusion system for intelligent robots

Author

Luo, Ren C. ; Lin, Min-Hsiung ; Scherp, Ralph S.

Author_Institution

Dept. of Electr. & Comput. Eng., North Carolina State Univ., Raleigh, NC, USA

Volume

4

Issue

4

fYear

1988

fDate

8/1/1988 12:00:00 AM

Firstpage

386

Lastpage

396

Abstract

The objective of the authors is to develop an intelligent robot workstation capable of integrating data from multiple sensors. The investigation is based on a Unimation PUMA 560 robot and various external sensors. These include overhead vision, eye-in-hand vision, proximity, tactile array, position, force/torque, cross-fire, overload, and slip-sensing devices. The efficient fusion of data from different sources will enable the machine to respond promptly in dealing with the `real world´. Towards this goal, the general paradigm of a sensor data fusion system has been developed, and some simulation results, as well as results from the actual implementation of certain concepts of sensor data fusion, have been demonstrated

Keywords

artificial intelligence; computer vision; industrial robots; position measurement; tactile sensors; workstations; Unimation PUMA 560 robot; artificial intelligence; computer vision; cross-fire sensor; eye-in-hand vision; force/torque sensor; industrial robots; intelligent robots; multi-sensor data fusion system; overhead vision; position measurement; position sensor; proximity sensor; slip-sensing devices; tactile array; tactile sensors; Automatic control; Control systems; Intelligent robots; Intelligent sensors; Layout; Robot sensing systems; Robotics and automation; Sensor fusion; Sensor systems; Temperature sensors;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Journal of

Publisher

ieee

ISSN

0882-4967

Type

jour

DOI

10.1109/56.802

Filename

802