Title :
Multisensory robots and sensor-based path generation
Author :
Hirzinger, G. ; Dietrich, J.
Author_Institution :
DFVLR Wessling, West Germany
Abstract :
The paper first outlines the recent sensory developments in the DFVLR robotics lab, these are different force-torque sensors, laser range finders, inductive sensors and sensor balls for robot and 3D-computer-grafic control. With the example of our proposed multisensory arrangement implying vision, range sensing, force-torque and speech, the fine-motion planning and path generation techniques as developed in our lab are discussed. The special case of a two-arm cooperative robot using two force-torque-sensors is treated in more detail. Practical results are demonstrated in a film including cooperative two arm robot control.
Keywords :
Feedback; Force control; Grippers; Intelligent sensors; Layout; Path planning; Robot control; Robot programming; Robot sensing systems; Sensor systems;
Conference_Titel :
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
DOI :
10.1109/ROBOT.1986.1087514