Integrating force, tactile and proximity sensing for a flexible robotic system through a modular design
For flexible manufacturing, namely parts assembly, the development of robot manipulators with the capacity of executing reliable fine motions with a high degree of generality is required. This requirement leads to the need of using sensors and consequently imposes the need of searching for techniques for efficient processing and integration of sensory data. This paper addresses issues regarding the integration of sensors for flexible robotics, namely force/torque, tactile and proximity range sensors. Here, we are essentially concerned with sensory integration for fine motion control, the following subjects being addressed: the architecture of the control system integrating force/torque, tactile and distance sensors and algorithms for sensor-based control.
KeywordsForce Control Robot Manipulator Tactile Sensor Fine Motion Smith Predictor
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