Integrating force, tactile and proximity sensing for a flexible robotic system through a modular design

  • Urbano Nunes
  • A. T. de Almeida
  • Pedro Faia
  • Rui Araújo
Part of the Microprocessor-Based and Intelligent Systems Engineering book series (ISCA, volume 9)


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.


Force Control Robot Manipulator Tactile Sensor Fine Motion Smith Predictor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer Science+Business Media Dordrecht 1991

Authors and Affiliations

  • Urbano Nunes
    • 1
  • A. T. de Almeida
    • 1
  • Pedro Faia
    • 1
  • Rui Araújo
    • 1
  1. 1.Electrical Engineering DepartmentUniversity of CoimbraCoimbraPortugal

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