NDLI: Experimentally registering position sensors

Content Provider	IEEE Xplore Digital Library
Author	Everett, L.J. Burnett, M.S.
Copyright Year	1996
Description	Author affiliation: Dept. of Mech. Eng., Texas A&M Univ., College Station, TX, USA (Everett, L.J.; Burnett, M.S.)
Abstract	Finding the sensor-to-tool frame is essential when a sensor is mounted on the dexterous end of a robot for application in either feedback control or kinematic calibration. Many researchers have provided closed-form solutions to the sensor-to-tool frame identification for applications in feedback control. The solutions provided in the literature however, apply only to sensors capable of providing complete pose (three positions and three orientations) of the measured object and to robots capable of providing complete pose of its end frame. Many sensors, however, are capable of providing only position, information. In addition, some robots, like telerobots and other velocity-commanded devices, do not provide tool pose information. This paper provides closed-form solutions for three applications: (1) when a position only sensor is mounted on a robot that provides full tool pose information, (2) when a full pose sensor is used on a robot which can neither provide tool pose information, nor move precise amounts, and (3) when a position only sensor is used on a robot without tool pose information.
Starting Page	641
Ending Page	646
File Size	545098
Page Count	6
File Format	PDF
ISBN	0780329880
ISSN	10504729
DOI	10.1109/ROBOT.1996.503847
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-04-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Robot kinematics Mechanical sensors Robotics and automation Mechanical engineering Feedback control Closed-form solution Manufacturing automation Cameras Switches
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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