Dynamic multi-sensor data fusion system for intelligent robots
- 1 August 1988
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Journal on Robotics and Automation
- Vol. 4 (4) , 386-396
- https://doi.org/10.1109/56.802
Abstract
The objective of the authors is to develop an intelligent robot workstation capable of integrating data from multiple sensors. The investigation is based on a Unimation PUMA 560 robot and various external sensors. These include overhead vision, eye-in-hand vision, proximity, tactile array, position, force/torque, cross-fire, overload, and slip-sensing devices. The efficient fusion of data from different sources will enable the machine to respond promptly in dealing with the 'real world'. Towards this goal, the general paradigm of a sensor data fusion system has been developed, and some simulation results, as well as results from the actual implementation of certain concepts of sensor data fusion, have been demonstrated.<>Keywords
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