Planning of sensory feedback in industrial robot workcells

Mikko Sallinen, Tapio Heikkilä, Matti Sirviö

    Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

    3 Citations (Scopus)

    Abstract

    In this paper, we present a method for planning the sensing features when the geometrical representation of the target object is known. The presented method is a synthesis form and can be used in several measurement applications in robotics. Sensing planning is an important issue when the measurement data is sparse, includes a lot of noise or there are tight time-requirements. The criteria for selecting the measurement locations and orientations is a posteriori error covariance matrix of the parameters to be estimated. The presented approach is verified by simulation tests in the case of work object location. The proposed method has been implemented into a commercial ConiferRob-robot software.
    Original languageEnglish
    Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
    PublisherIEEE Institute of Electrical and Electronic Engineers
    Pages675-680
    ISBN (Print)0-7803-9505-0
    DOIs
    Publication statusPublished - 2006
    MoE publication typeA4 Article in a conference publication
    EventIEEE International Conference on Robotics and Automation - Orlando, United States
    Duration: 15 May 200619 May 2006

    Publication series

    SeriesProceedings - IEEE International Conference on Robotics and Automation
    ISSN1050-4729

    Conference

    ConferenceIEEE International Conference on Robotics and Automation
    Abbreviated titleICRA 2006
    CountryUnited States
    CityOrlando
    Period15/05/0619/05/06

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    Cite this

    Sallinen, M., Heikkilä, T., & Sirviö, M. (2006). Planning of sensory feedback in industrial robot workcells. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 675-680). IEEE Institute of Electrical and Electronic Engineers . Proceedings - IEEE International Conference on Robotics and Automation https://doi.org/10.1109/ROBOT.2006.1641788