Title :
Multi-sensor integration for robotic assembly
Author :
Eccles, J. ; Herd, J.T. ; Duffy, N.D.
Author_Institution :
Dept. of Electron. Eng., Heriot-Watt Univ., Edinburgh, UK
Abstract :
A method of integrating an arbitrary number of visual sensors for the purpose of controlling a robotic assembly cell is described. The sensory system is decoupled from the robot control by means of a world model. Sensor input is by means of a uniform interface (virtual sensor) which facilitates easy sensor reconfiguration. The method allows for run-time sensor correction by exploiting the information redundancy of a multi-sensor system.<>
Keywords :
assembling; image sensors; industrial robots; redundancy; sensor fusion; information redundancy; multi-sensor system; robotic assembly; run-time sensor correction; sensor fusion; virtual sensor; visual sensors; world model; Automatic control; Intelligent sensors; Redundancy; Robot control; Robot sensing systems; Robotic assembly; Robotics and automation; Runtime; Sensor phenomena and characterization; Sensor systems;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240376
