Value and cost of sensor information in a coordinated manipulator task

Research results on the use of sensor information in coordinated manipulator tasks are presented. A task example is presented and is modeled in a computer simulation. The computer simulation is discussed and documented, and results of simulation runs are presented for different types and configurations of manipulator sensors. Position errors are calculated for nine different cases of sensor type and configuration. The required information rates corresponding to these cases are also presented. A comparative analysis of the cases is performed to identify the cases that are suboptimal. The optimal cases are then presented with a discussion of the final results