DocumentCode
2367205
Title
Cooperative arm tasks and sensor fusion
Author
Dodds, G. ; Wilson, G. ; Zatari, A.
Author_Institution
Dept. of Electr. & Electron. Eng., Queen´´s Univ., Belfast, UK
fYear
1995
fDate
34793
Firstpage
42522
Lastpage
42526
Abstract
Multi-arm environments contain correlated and dependent sensor information, which permit intelligent measurement through fusion. The use of this information is described in terms of calibration, online indirectly inferred parameter estimation, fault detection and enhanced measurement of multiply sensed variables. The use of fused data for variable structure control is specifically described along with appropriate sensing strategies for multi-arm robotic assembly and processing tasks
Keywords
assembling; calibration; fault diagnosis; industrial robots; parameter estimation; real-time systems; sensor fusion; calibration; fault detection; intelligent measurement; multi-arm robotic assembly; online parameter estimation; sensor fusion; variable structure control;
fLanguage
English
Publisher
iet
Conference_Titel
Intelligent Measuring Systems for Control Applications, IEE Colloquium on
Conference_Location
London
Type
conf
DOI
10.1049/ic:19950441
Filename
475010
Link To Document