Planning of sensory feedback in industrial robot workcells

Mikko Sallinen; Tapio Heikkilä; Matti Sirviö

doi:10.1109/ROBOT.2006.1641788

Planning of sensory feedback in industrial robot workcells

Mikko Sallinen
, Tapio Heikkilä
, Matti Sirviö

VTT (former employee or external)

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-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 language	English
Title of host publication	Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Publisher	IEEE Institute of Electrical and Electronic Engineers
Pages	675-680
ISBN (Print)	0-7803-9505-0
DOIs	https://doi.org/10.1109/ROBOT.2006.1641788
Publication status	Published - 2006
MoE publication type	A4 Article in a conference publication
Event	IEEE International Conference on Robotics and Automation - Orlando, United States Duration: 15 May 2006 → 19 May 2006

Publication series

Series	IEEE International Conference on Robotics and Automation (ICRA)
ISSN	1050-4729

Conference

Conference	IEEE International Conference on Robotics and Automation
Abbreviated title	ICRA 2006
Country/Territory	United States
City	Orlando
Period	15/05/06 → 19/05/06

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Access to Document

10.1109/ROBOT.2006.1641788

Cite this

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title = "Planning of sensory feedback in industrial robot workcells",

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.",

author = "Mikko Sallinen and Tapio Heikkil{\"a} and Matti Sirvi{\"o}",

year = "2006",

doi = "10.1109/ROBOT.2006.1641788",

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pages = "675--680",

booktitle = "Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006",

address = "United States",

note = "IEEE International Conference on Robotics and Automation, ICRA 2006 ; Conference date: 15-05-2006 Through 19-05-2006",

}

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. IEEE Institute of Electrical and Electronic Engineers, IEEE International Conference on Robotics and Automation (ICRA), pp. 675-680, IEEE International Conference on Robotics and Automation, Orlando, Florida, United States, 15/05/06. https://doi.org/10.1109/ROBOT.2006.1641788

Planning of sensory feedback in industrial robot workcells. / Sallinen, Mikko; Heikkilä, Tapio; Sirviö, Matti.
Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. IEEE Institute of Electrical and Electronic Engineers, 2006. p. 675-680 (IEEE International Conference on Robotics and Automation (ICRA)).

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

TY - GEN

T1 - Planning of sensory feedback in industrial robot workcells

AU - Sallinen, Mikko

AU - Heikkilä, Tapio

AU - Sirviö, Matti

PY - 2006

Y1 - 2006

N2 - 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.

AB - 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.

U2 - 10.1109/ROBOT.2006.1641788

DO - 10.1109/ROBOT.2006.1641788

M3 - Conference article in proceedings

SN - 0-7803-9505-0

T3 - IEEE International Conference on Robotics and Automation (ICRA)

SP - 675

EP - 680

BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006

PB - IEEE Institute of Electrical and Electronic Engineers

T2 - IEEE International Conference on Robotics and Automation

Y2 - 15 May 2006 through 19 May 2006

ER -

Planning of sensory feedback in industrial robot workcells

Abstract

Publication series

Conference

UN SDGs

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