Sensor Devices and Systems for Robotics

✍ Scribed by A. Mukerjee (auth.), Alícia Casals (eds.)

• Publisher: Springer-Verlag Berlin Heidelberg
• Year: 1989
• Tongue: English
• Leaves: 355
• Series: NATO ASI Series 52
• Edition: 1
• Category: Library

✦ Synopsis

As robots improve in efficiency and intelligence, there is a growing need to develop more efficient, accurate and powerful sensors in accordance with the tasks to be robotized. This has led to a great increase in the study and development of different kinds of sensor devices and perception systems over the last ten years. Applications that differ from the industrial ones are often more demanding in sensorics since the environment is not usually so well structured. Spatial and agricultural applications are examples of situations where the environment is unknown or variable. Therefore, the work to be done by a robot cannot be strictly programmed and there must be an interactive communication with the environment. It cannot be denied that evolution and development in robotics are closely related to the advances made in sensorics. The first vision and force sensors utilizing discrete components resulted in a very low resolution and poor accuracy. However, progress in VLSI, imaging devices and other technologies have led to the development of more efficient sensor and perception systems which are able to supply the necessary data to robots.

✦ Table of Contents

Front Matter....Pages I-IX
Front Matter....Pages 1-1
Joint Force Sensing for Unified Motor Learning....Pages 3-15
Modelling the Interaction between Robot and Environment....Pages 17-36
Pneumatic Sensors: Their Use and Performance in Force, Tactile and Position Sensing and in Shape Recognition....Pages 37-55
Front Matter....Pages 57-57
Carbon Fibre Sensors....Pages 59-66
Tactile Geometry for Images and Normals....Pages 67-77
A Video Speed Tactile Camera....Pages 79-88
Present and Future of Tactile Sensors....Pages 89-89
Front Matter....Pages 91-91
Acoustic Range Sensing for Robotic Control....Pages 93-109
SONAIR Ultrasonic Range Finders....Pages 111-126
Ultrasonic Imaging for Industrial Scene Analysis....Pages 127-141
Adaptative Ultrasonic Range-Finder for Robotics....Pages 143-156
Front Matter....Pages 157-157
TH 7864 Area Array Charge-Coupled Device (CCD) Image Sensor with Built-In Antiblooming Device....Pages 159-165
Real Time Holes Location. A Step Forward in Bin Picking Tasks....Pages 167-185
Combined 2-D and 3-D Robot Vision System....Pages 187-194
The Calibration Problem for Stereoscopic Vision....Pages 195-213
Non Heuristic Estimation of Object Shapes from Partial Information....Pages 215-229
Parameter Estimation in Signal Processing....Pages 231-240
Front Matter....Pages 241-241
Dynamic Weighing in a Pick-and-Place Environment....Pages 243-251
Sensor Fusion in Certainty Grids for Mobile Robots....Pages 253-276
A Six Degrees of Freedom Positional Deviation Sensor for the Teaching of Robots....Pages 277-292
Front Matter....Pages 293-293
Force Feedback Strategies and their Application to Assembly....Pages 295-311
Application of Laser Range Finder to Robot Vision....Pages 313-322
Visual Inspection System with Qualitative Analysis Capabilities....Pages 323-335
Predictive and Estimation Schemes in Sensor-Controlled Telerobotics....Pages 337-357
Back Matter....Pages 359-365

✦ Subjects

Artificial Intelligence (incl. Robotics);Computer-Aided Engineering (CAD, CAE) and Design;Complexity;Control, Robotics, Mechatronics