An ultrasonic multi-sensor system for object locating applications

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    3 Citations (Scopus)

    Abstract

    The multi-sensor system is based on commercial capacitive ultra-sonic sensors integrated into the tool structure of an intelligent manipulator system. Each sensor measures the distance from the sensor head to the observed object based on the time-of-flight principle (TOF).
    Based on the distance measurements the position, orientation and in some cases also shape parameters of the manipulated object are estimated. Only regular shaped objects are considered, e.g. objects with cylindrical or spherical surfaces. In addition, an estimate for the resulting performance of the sensor system in the form of parameter variances/covariances is obtained. This can be utilized in designing the geometric configuration of the multi-sensor system or the sensing operations. It is shown that a poor configuration may have a drastic effect on the uncertainty.

    Original languageEnglish
    Pages (from-to)433-440
    JournalMechatronics
    Volume5
    Issue number4
    DOIs
    Publication statusPublished - 1995
    MoE publication typeA1 Journal article-refereed

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