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ROBOT END-EFFECTOR ORIENTATION CONTROL USING PROXIMITY SENSORS
被引：0
作者：
LI, YF
机构：
[1] Robotics Research Group, Department of Engineering Science, Oxford University, Oxford
关键词：
Programmable robots;
D O I：
10.1016/0736-5845(93)90010-H
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ;
0835 ;
摘要：
By virtue of their high accuracy and fast response, intensity-based fibre optic proximity sensors have found applications in robot end-effector position control. Unfortunately, their characteristics show that the sensor is incapable of orientation sensing. To detect robot orientation errors, a multi-sensor approach is adopted and a detection strategy developed. The problems with real-time orientation control are studied in the context of general robot Cartesian space position control. The performance of the proposed strategy has been tested on a PUMA 560 robot and the results are presented in this paper. Successful applications of the strategy developed are demonstrated in target tracking and surface following.
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页码：323 / 331
页数：9
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