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Relevant bibliographies by topics / Robotic sensors and control

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Academic literature on the topic 'Robotic sensors and control'

Author: Grafiati

Published: 4 June 2021

Last updated: 1 February 2022

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Journal articles on the topic "Robotic sensors and control"

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Kramer, Kathleen A., and Stephen C. Stubberud. "Control Loop Sensor Calibration Using Neural Networks for Robotic Control." Journal of Robotics 2011 (2011): 1–8. http://dx.doi.org/10.1155/2011/845685.

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Whether sensor model’s inaccuracies are a result of poor initial modeling or from sensor damage or drift, the effects can be just as detrimental. Sensor modeling errors result in poor state estimation. This, in turn, can cause a control system relying upon the sensor’s measurements to become unstable, such as in robotics where the control system is applied to allow autonomous navigation. A technique referred to as a neural extended Kalman filter (NEKF) is developed to provide both state estimation in a control loop and to learn the difference between the true sensor dynamics and the sensor model. The technique requires multiple sensors on the control system so that the properly operating and modeled sensors can be used as truth. The NEKF trains a neural network on-line using the same residuals as the state estimation. The resulting sensor model can then be reincorporated fully into the system to provide the added estimation capability and redundancy.

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Kazerooni, H., Mark S. Evans, and J. Jones. "Hydrostatic Force Sensor for Robotic Applications." Journal of Dynamic Systems, Measurement, and Control 119, no. 1 (March 1, 1997): 115–19. http://dx.doi.org/10.1115/1.2801201.

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This article presents a theoretical and experimental investigation of a new kind of force sensor which detects forces by measuring an induced pressure change in a material of large Poisson’s ratio. In this investigation, we develop mathematical expressions for the sensor’s sensitivity and bandwidth, and show that its sensitivity can be much larger and its bandwidth is usually smaller than those of existing strain-gage-type sensors. This force sensor is well-suited for measuring large but slowly varying forces. It can be installed in a space smaller than that required for existing sensors. This paper also discusses the effects of various parameters on the sensor’s performance and on failure modes. To verify the theoretical derivation, a prototype force sensor was designed and built. This prototype hydrostatic force sensor can measure the compressive forces up to 7200 lbf and tensile forces up to 3500 lbf.

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Cheng, Teddy M., and Andrey V. Savkin. "Decentralized control for mobile robotic sensor network self-deployment: barrier and sweep coverage problems." Robotica 29, no. 2 (April 16, 2010): 283–94. http://dx.doi.org/10.1017/s0263574710000147.

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SUMMARYThis paper addresses the problems of barrier coverage and sweep coverage in a corridor environment with a network of self-deployed mobile autonomous robotic sensors. Using the ideas of nearest neighbor rules and information consensus, we propose a decentralized control law for the robotic sensors to solve the coverage problems. Numerical simulations illustrate the effectiveness of the proposed algorithm. The results in this paper demonstrate that such simple motion coordination rules can play a significant role in addressing the issue of coverage in a mobile robotic sensor network.

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Zhu, Lingfeng, Yancheng Wang, Deqing Mei, and Chengpeng Jiang. "Development of Fully Flexible Tactile Pressure Sensor with Bilayer Interlaced Bumps for Robotic Grasping Applications." Micromachines 11, no. 8 (August 12, 2020): 770. http://dx.doi.org/10.3390/mi11080770.

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Flexible tactile sensors have been utilized in intelligent robotics for human-machine interaction and healthcare monitoring. The relatively low flexibility, unbalanced sensitivity and sensing range of the tactile sensors are hindering the accurate tactile information perception during robotic hand grasping of different objects. This paper developed a fully flexible tactile pressure sensor, using the flexible graphene and silver composites as the sensing element and stretchable electrodes, respectively. As for the structural design of the tactile sensor, the proposed bilayer interlaced bumps can be used to convert external pressure into the stretching of graphene composites. The fabricated tactile sensor exhibits a high sensing performance, including relatively high sensitivity (up to 3.40% kPa−1), wide sensing range (200 kPa), good dynamic response, and considerable repeatability. Then, the tactile sensor has been integrated with the robotic hand finger, and the grasping results have indicated the capability of using the tactile sensor to detect the distributed pressure during grasping applications. The grasping motions, properties of the objects can be further analyzed through the acquired tactile information in time and spatial domains, demonstrating the potential applications of the tactile sensor in intelligent robotics and human-machine interfaces.

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Brüggenwirth, Stefan, and Fernando Rial. "Robotic control for cognitive UWB radar." Encyclopedia with Semantic Computing and Robotic Intelligence 02, no. 01 (June 2018): 1850009. http://dx.doi.org/10.1142/s2529737618500090.

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In the paper, we describe a trajectory planning problem for a six-DoF robotic manipulator arm that carries an ultra-wideband (UWB) radar sensor with synthetic aperture (SAR). The resolution depends on the trajectory and velocity profile of the sensor head. The constraints can be modeled as an optimization problem to obtain a feasible, collision-free target trajectory of the end-effector of the manipulator arm in Cartesian coordinates that minimizes observation time. For 3D reconstruction, the target is observed in multiple height slices. For through-the-wall radar the sensor can be operated in sliding mode for scanning larger areas. For IED inspection the spotlight mode is preferred, constantly pointing the antennas towards the target to obtain maximum azimuth resolution. UWB sensors typically use a wide spectrum shared by other RF communication systems. This may become a limiting factor on system sensitivity and severely degrade the image quality. Cognitive radars can adapt dynamically their bandwidth, frequency and other transmit parameters to the radio frequency environment to avoid interference with primary users.

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Cheng, Teddy M., and Andrey V. Savkin. "Self-deployment of mobile robotic sensor networks for multilevel barrier coverage." Robotica 30, no. 4 (August 8, 2011): 661–69. http://dx.doi.org/10.1017/s0263574711000877.

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SUMMARYWe study a problem of K-barrier coverage by employing a network of self-deployed, autonomous mobile robotic sensors. A decentralized coordination algorithm is proposed for the robotic sensors to address the coverage problem. The algorithm is developed based on some simple rules that only rely on local information. By applying the algorithm to the robotic sensors, K layers of sensor barriers are formed to cover the region between two given points. To illustrate the proposed algorithm, numerical simulations are carried out for a number of scenarios.

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Setiawan, Joga Dharma, Mochammad Ariyanto, M. Munadi, Muhammad Mutoha, Adam Glowacz, and Wahyu Caesarendra. "Grasp Posture Control of Wearable Extra Robotic Fingers with Flex Sensors Based on Neural Network." Electronics 9, no. 6 (May 29, 2020): 905. http://dx.doi.org/10.3390/electronics9060905.

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This study proposes a data-driven control method of extra robotic fingers to assist a user in bimanual object manipulation that requires two hands. The robotic system comprises two main parts, i.e., robotic thumb (RT) and robotic fingers (RF). The RT is attached next to the user’s thumb, while the RF is located next to the user’s little finger. The grasp postures of the RT and RF are driven by bending angle inputs of flex sensors, attached to the thumb and other fingers of the user. A modified glove sensor is developed by attaching three flex sensors to the thumb, index, and middle fingers of a wearer. Various hand gestures are then mapped using a neural network. The input data of the robotic system are the bending angles of thumb and index, read by flex sensors, and the outputs are commanded servo angles for the RF and RT. The third flex sensor is attached to the middle finger to hold the extra robotic finger’s posture. Two force-sensitive resistors (FSRs) are attached to the RF and RT for the haptic feedback when the robot is worn to take and grasp a fragile object, such as an egg. The trained neural network is embedded into the wearable extra robotic fingers to control the robotic motion and assist the human fingers in bimanual object manipulation tasks. The developed extra fingers are tested for their capacity to assist the human fingers and perform 10 different bimanual tasks, such as holding a large object, lifting and operate an eight-inch tablet, and lifting a bottle, and opening a bottle cap at the same time.

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Noritsugu, Toshiro. "Special Issue on Robotics for Innovative Industry and Society." International Journal of Automation Technology 8, no. 2 (March 5, 2014): 139. http://dx.doi.org/10.20965/ijat.2014.p0139.

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Robotics has become one of the most important automation technologies for industry and society. Robot components such as actuators and sensors, together with mechanisms and control systems, are being more and more combined with intelligent sensors in innovative industry design and fabrication. Robot technology is being applied in such fields as welfare, education, agriculture, and energy. Robot technology for welfare and nursing is being promoted by the government to increase lifestyle creativity as society ages. This special issue focuses on robotics in fields from manufacturing industries to societal needs. Papers ranging from robotics theory to robot application have been invited. Among the topics covered are robot mechanisms, robot components, actuators, sensors, and controllers, robot control theory, robotic systems, energy saving, industrial applications, automation, vehicles, entertainment, medicine, welfare and nursing applications, and robotics education. The 15 papers presented in this issue include actuators such as rubber artificial muscles or phase-change actuators, pneumatics, power assist devices such as assist glove and upper-limb assist devices, robotic suits, sensor fusion, omnidirectional locomotion, underwater robots, force display apparatuses, meal assistant robots, manufacturing applications of parallel-link mechanisms, surface polishing, and agricultural applications. These papers bring readers the latest state-of-the-art robot technologies useful in everything from analysis and design to control and applications in innovative industries. We thank the authors for their invaluable contributions and the reviewers for their advice – all of which have made this special issue both informative and entertaining.

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Khort, Dmitriy, Alexey Kutyrev, Rostislav Filippov, and Stepan Semichev. "Development control system robotic platform for horticulture." E3S Web of Conferences 262 (2021): 01024. http://dx.doi.org/10.1051/e3sconf/202126201024.

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The article presents a control system for a robotic platform for horticulture. The electronic control system consists of a running engine control unit, a stepper motor steering unit, an electronic differential control unit, a power plant automatic on / off control unit, and battery charging balancing. The developed control system of the robotic vehicle contains a central computer that collects information from sensors and sensors, processes it and transmits control signals to the drives of the machine movement. The movement of the robotic platform is carried out both by a radio signal with a remote control, and in offline mode on a pre-set map of the area according to data from the GLONASS/GPS differential receiver of the satellite navigation system. It is also possible to independently control the movement of a robotic platform using a vision system. The autonomy of the robotic platform provides 10 hours of continuous operation in low-light conditions in various weather conditions.

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B Lima, Glaydson Luiz, Osamu Saotome, and Ijar M. Da Fonseca. "Inspection and control system for experiments in space robotics." South Florida Journal of Development 2, no. 3 (July 11, 2021): 4094–104. http://dx.doi.org/10.46932/sfjdv2n3-023.

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The communication subsystem is one among the various subsystems of a telerobotic space system. It is responsible for coordinating the commands received from the teleoperator control subsystem to the robotic arm, for reading signals from the sensors, and for stating the communication of the telerobot with the ground station. The telerobotic experiment under development by the ITA space robotics research group was developed with the purpose of investigating a robotic space system dynamics and control, including the study of the working and integration of all subsystems involved in the teleoperation control. The lab experiment consists of two identical units of robot manipulators, each of them mounted on its own floating air-supported platform. The objective is to simulate computationally the operations of rendezvous and capture in the microgravity' orbital environment, emulated by the floating manipulators' dynamics. The closed circuit for this system involves the in time position detection, transmission and data processing by using a position-tracking (X, Y, and Z) computer system combined with a Kinect sensor (RGB-D). The computer system comprises two computers capable of processing the positional images with greater accuracy. One of them receive and send the sensor data to a second computer which performs the data processing by proper algorithms in Matlab® and Simulink and sends commands to the robotic arm via WIFI (UDP protocol) network. The robot receives and executes the control signals moving the robotic arms whose position is again detected by the kinect sensor and informed back to the computer system, closing the control mesh and allowing the safe capture of the target. This work deals with the communication subsystem of the space robot experiment and its ability to set an integrated and efficient communication satisfying the telerobot control requirements

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Dissertations / Theses on the topic "Robotic sensors and control"

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Nicholson, Ann Elizabeth. "Monitoring discrete environments using dynamic belief networks." Thesis, University of Oxford, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.306008.

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Smith, G. P. "Sensory measurement and control in robotic assembly processes." Thesis, University of Hertfordshire, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.384576.

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Zhang, Mei 1968. "Sensor-based autonomous control of dynamic robotic manipulation." Thesis, McGill University, 1995. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=22685.

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Autonomous grasping in dynamic environments where the object, the robot or both are moving is an increasingly common task in robotic applications. This thesis describes an online trajectory planner--a geometric controller--which evaluates a nonlinear memoryless function to map the current object position and velocity into a desired robot pose. If the robot tracks these set points, it is guaranteed to match the object's velocity and acceleration on a specified grasp surface. A planar simulation demonstrates that this paradigm performs favorably when compared with the traditional planning approach. Since it does not depend on future state predictions, no object model is required. Without trajectory prediction, the computational effort is drastically reduced, allowing for higher controller speed and tracking feedback gains. The geometric controller has been successfully implemented on the 7 dof Sarcos Dextrous Arm.
In order to provide the critical local sensing just before robot-environment contract, this thesis reports on work in progress toward the development of a proximity sensing network, located in a robot's multi-fingered gripper. This network will form an integral part of a multistage sensing system with vision and tactile sensor pads. Sensing information is passed on to geometric controller which provides a framework for general sensor-based control of robotic tasks.

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Barsky, Michael F. "Robot gripper control system using PVDF piezoelectric sensors." Thesis, Virginia Polytechnic Institute and State University, 1986. http://hdl.handle.net/10919/77897.

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A novel robot gripper control system is presented which uses PVDF piezoelectric sensors to actively damp exerted force. By using a low-input-resistance amplifier to sense the current developed by the PVDF sensor, an output proportional to the rate of change of the force exerted by the gripper is obtained. The signals from the PVDF sensor and a strain gauge force sensor are arranged in a proportional and derivative (PD) control system for the control of force. The control system was tested on an instrumented Rhino XR-1 manipulator hand. The capabilities of the control system are analyzed analytically, and verified experimentally. The results for this particular gripper indicate that as much as 900% improvement in force step response rise time, and 300% reduction in overshoot are possible by inclusion of the PVDF sensor.
Master of Engineering

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Cunha, João Alexandre da Silva Costa e. "Holonomic control and behaviours for the CAMBADA robotic soccer team." Master's thesis, Universidade de Aveiro, 2009. http://hdl.handle.net/10773/2127.

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Mestrado em Engenharia de Computadores e Telemática
CAMBADA é a equipa de futebol robótico da liga de tamanho médio do RoboCup criada por investigadores do grupo ATRI do IEETA da Universidade de Aveiro. Esta dissertação apresenta as contribuições desenvolvidas no controlo do movimento holonómico e comportamentos de alto-nível. Ao nível do controlo do movimento, várias restrições que afectam o movimento holonómico foram tratadas. Isto é de vital importância visto que dado o ambiente altamente dinâmico de um jogo de futebol é crucial mover e posicionar os robots eficazmente no campo. Ao nivel dos comportamentos, dada a importância da bola no jogo de futebol, e considerando o trabalho realizado no que diz respeito à estimativa da velocidade da bola, o comportamento de intercepção activa foi desenvolvido permitindo aos robots apanhar a bola prevendo o seu movimento em vez de se moverem directamente para a ela considerando-a estática. Dada a autonomia completa dos robots, a sua percepção do mundo deve ser o mais próxima possivel da realidade. De modo a fornecer, ao robot, informação adicional respeitante ao estado do jogo, um método para determinar se está preso foi desenvolvido. O trabalho implementado melhorou a performance da equipa e contribuiu para vitória de um campeonato nacional, Robótica’09, e a um notável terceiro lugar no RoboCup’09 em Graz, ´Austria. ABSTRACT: CAMBADA is the RoboCup Middle Size League robotic soccer team created by researchers of the ATRI group of IEETA of University of Aveiro. This thesis presents the developed contributions in holonomic motion control and high-level behaviours. At the motion control level, several restrictions affecting holonomic motion were addressed. This is of vital importance since that given the highly dynamic environment of a soccer game it is crucial to move and position the robots efficiently in the field. At the behaviours level, given the importance of the ball in the soccer game, and considering previous work regarding the estimation of the ball velocity, the active interception behaviour was implemented allowing the robots to engage the ball predicting its movement rather than moving directly to it considering it static. Given the full autonomy of the robots, their perception of the game should be as close to reality as possible. In order to supply additional information to the robot regarding the state of the game, a method to detect if it is stuck was developed. The implemented work improved the team performance and contributed to the victory of a National Championship (Robótica’09) and a remarkable third-place in the RoboCup 2009 in Graz, Austria.

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Wang, Yanjun. "Impedance control without force sensors with application in homecare robotics." Thesis, University of British Columbia, 2014. http://hdl.handle.net/2429/51174.

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This thesis addresses the problem of interaction control between robot manipulator and the manipulated object in a homecare project. This project aims to use homecare robots at the elderly or disabled people’s home to provide necessary aid and assistance. The robot manipulator is to be operated in autonomous mode or teleoperation mode. The possible first aid or assistance requires direct interaction between the remote side robot manipulator and the human body. To guarantee the compliant interaction between the manipulator and the human body, impedance control was applied. In impedance control, neither the force nor the actual motion of the manipulator is controlled. The dynamic relationship between the interaction force and the resulting motion is controlled so that the interaction force will be monitored and kept at an acceptable range. To shape the mechanical impedance to any desired value as we wish, the remote side interaction force sensing is required. The interaction force could be sensed by a force sensor. Force sensors have a lot of inherent limitations such as narrow bandwidth, sensing noise, and high cost. To avoid a force sensor due to its limitations, sliding mode observers will be applied to estimate the interaction force. The estimated interaction force will be used in the impedance control algorithms. The observer and controller framework will be formulated and the solvability will be discussed thoroughly. In addition, the proposed approach will be compared with some available approaches to show its advantages over others. Bilateral impedance control will be applied in a teleoperation system. The master side impedance controller is to ensure the robust stability of the teleoperation system. The remote slave side impedance controller is used so that the interaction force will be monitored and kept at some acceptable range. Desired impedance parameters selection will be discussed considering the compromise between robust stability and performance. Also, in order to deal with the uncertainties in operator and environment dynamics, a robust performance guaranteed controller synthesis approach will be proposed. Gain-scheduling control could guarantee the stability and the robust performance under those uncertainties.
Applied Science, Faculty of
Mechanical Engineering, Department of
Graduate

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Brickman, Staffan, and Peter Andersson. "Improving the accuracy of an industrial robotic arm using iterative learning control with data fusion of motor angles and imu sensors." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-48712.

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The estimated position of an industrial robot’s end-effector is crucial for its performance. Contemporary methods for doing the estimation is limited in certain aspects, and alternative methods are in high demand. This work builds on a method previously introduced where an Inertial Measurement Unit (IMU) device is combined with the robot’s system via sensor fusion. The IMU must be calibrated before its signal is used in sensor fusion and this work implements and builds on current cutting-edge methods for calibration. Sensor fusion is a crucial part of the method and here a complementary filter is used. The finished estimation is then used with Iterative Learning Control (ILC) to investigate if the accuracy can be further improved and also test its viability. Results from ILC show that the IMU can indeed be used to estimate the end-effector's trajectory but that sensor fusion is mandatory. Further research could be done to allow the estimation to be done online instead of offline and ILC could be tested more extensively.

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Rehbinder, Henrik. "State Estimation and Limited Communication Control for Nonlinear Robotic Systems." Doctoral thesis, KTH, Mathematics, 2001. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3250.

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West, Jerry. "Orthoplanar Spring Based Compliant Force/Torque Sensor for Robot Force Control." Scholar Commons, 2017. http://scholarcommons.usf.edu/etd/6637.

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A compliant force/torque sensor for robot force control has been developed. This thesis presents methods of designing, testing, and implementing the sensor on a robotic system. The sensor uses an orthoplanar spring equipped with Hall-effect sensors to measure one component of force and two moment components. Its unique design allows for simple and cost effective manufacturing, high reliability, and compactness. The device may be used in applications where a robot must control contact forces with its environment, such as in surface cleaning tasks, manipulating doors, and removing threaded fasteners. The compliant design of the sensor improves force control performance and reduces impact forces. Sensor design considerations are discussed, followed by a discussion of the proposed design concept. Theoretical compliance and stress analysis of the orthoplanar spring is presented that allows for rapid design calculations; these calculations are validated via finite element analysis. A mechanical design method is given which uses the results of the compliance and stress analysis. Transducer design is then addressed by developing a model of the sensor. The design methods are used to design a prototype sensor which is tested to determine its instrument uncertainty. Finally, the sensor is implemented on a robotic platform to test its performance in force control.

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Mohy, El Dine Kamal. "Control of robotic mobile manipulators : application to civil engineering." Thesis, Université Clermont Auvergne‎ (2017-2020), 2019. http://www.theses.fr/2019CLFAC015/document.

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Malgré le progrès de l'automatisation industrielle, les solutions robotiques ne sont pas encore couramment utilisées dans le secteur du génie civil. Plus spécifiquement, les tâches de ponçage, telles que le désamiantage, sont toujours effectuées par des opérateurs humains utilisant des outils électriques et hydrauliques classiques. Cependant, avec la diminution du coût relatif des machines par rapport au travail humain et les réglementations sanitaires strictes applicables à des travaux aussi risqués, les robots deviennent progressivement des alternatives crédibles pour automatiser ces tâches et remplacer les humains.Dans cette thèse, des nouvelles approches de contrôle de ponçage de surface sont élaborées. Le premier contrôleur est un contrôleur hybride position-force avec poignet conforme. Il est composé de 3 boucles de commande, force, position et admittance. La commutation entre les commandes pourrait créer des discontinuités, ce qui a été résolu en proposant une commande de transition. Dans ce contrôleur, la force de choc est réduite par la commande de transition proposée entre les modes espace libre et contact. Le second contrôleur est basé sur un modèle de ponçage développé et un contrôleur hybride adaptatif position-vitesse-force. Les contrôleurs sont validés expérimentalement sur un bras robotique à 7 degrés de liberté équipé d'une caméra et d'un capteur de force-couple. Les résultats expérimentaux montrent de bonnes performances et les contrôleurs sont prometteurs. De plus, une nouvelle approche pour contrôler la stabilité des manipulateurs mobiles en temps réel est présentée. Le contrôleur est basé sur le « zero moment point », il a été testé dans des simulations et il a été capable de maintenir activement la stabilité de basculement du manipulateur mobile tout en se déplaçant. En outre, les incertitudes liées à la modélisation et aux capteurs sont prises en compte dans les contrôleurs mentionnés où des observateurs sont proposés.Les détails du développement et de l'évaluation des différents contrôleurs proposés sont présentés, leurs mérites et leurs limites sont discutés et des travaux futurs sont suggérés
Despite the advancements in industrial automation, robotic solutions are not yet commonly used in the civil engineering sector. More specifically, grinding tasks such as asbestos removal, are still performed by human operators using conventional electrical and hydraulic tools. However, with the decrease in the relative cost of machinery with respect to human labor and with the strict health regulations on such risky jobs, robots are progressively becoming credible alternatives to automate these tasks and replace humans.In this thesis, novel surface grinding control approaches are elaborated. The first controller is based on hybrid position-force controller with compliant wrist and a smooth switching strategy. In this controller, the impact force is reduced by the proposed smooth switching between free space and contact modes. The second controller is based on a developed grinding model and an adaptive hybrid position-velocity-force controller. The controllers are validated experimentally on a 7-degrees-of-freedom robotic arm equipped with a camera and a force-torque sensor. The experimental results show good performances and the controllers are promising. Additionally, a new approach for controlling the stability of mobile manipulators in real time is presented. The controller is based on zero moment point, it is tested in simulations and it was able to actively maintain the tip-over stability of the mobile manipulator while moving. Moreover, the modeling and sensors uncertainties are taken into account in the mentioned controllers where observers are proposed. The details of the development and evaluation of the several proposed controllers are presented, their merits and limitations are discussed and future works are suggested

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Books on the topic "Robotic sensors and control"

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Automated manufacturing systems: Actuators, controls, sensors, and robotics. New York: Glencoe, 1995.

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Sensors for mobile robots: Theory and application. Wellesley, Mass: A.K. Peters, 1995.

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Savkin, Andrey V., Teddy M. Cheng, Zhiyu Xi, Faizan Javed, Alexey S. Matveev, and Hung Nguyen, eds. Decentralized Coverage Control Problems for Mobile Robotic Sensor and Actuator Networks. Hoboken, NJ, USA: John Wiley & Sons, Inc., 2015. http://dx.doi.org/10.1002/9781119058052.

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Brown, Robert Michael. A microcontroller-based three degree-of-freedom manipulator testbed. [Washington, DC: National Aeronautics and Space Administration, 1995.

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Brown, Robert Michael. A microcontroller-based three degree-of-freedom manipulator testbed. [Washington, DC: National Aeronautics and Space Administration, 1995.

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Brown, Robert Michael. A microcontroller-based three degree-of-freedom manipulator testbed. [Washington, DC: National Aeronautics and Space Administration, 1995.

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Piezoelectric sensorics: Force, strain, pressure, acceleration and acoustic emission sensors, materials and amplifiers. Berlin: Springer, 2002.

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On-line trajectory generation in robotic systems: Basic concepts for instantaneous reactions to unforeseen (sensor) events. Berlin: Springer, 2010.

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Stirniman, Robert. U.S. market for position sensors, 1986-1991 (and interface electronics). [United States]: Motor Tech Trends, 1986.

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IEEE, Micro Robots and Teleoperators Workshop (1987 Hyannis Mass ). An Investigation of micromechanical structures, actuators, and sensors: Proceedings, IEEE Micro Robots and Teleoperators Workshop 1987, Hyannis, Massachusetts, November 9-11. New York, NY: Institute of Electrical and Electronics Engineers, 1987.

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Book chapters on the topic "Robotic sensors and control"

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Taylor, P. M. "External Sensors." In Robotic Control, 76–99. London: Macmillan Education UK, 1990. http://dx.doi.org/10.1007/978-1-349-20510-3_6.

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Taylor, P. M. "Sensors and Actuators." In Robotic Control, 35–56. London: Macmillan Education UK, 1990. http://dx.doi.org/10.1007/978-1-349-20510-3_3.

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Van Brussel, H., H. Beliën, and Bao Chao-Ying. "Force/Torque and Tactile Sensors for Sensor-Based Manipulator Control." In Traditional and Non-Traditional Robotic Sensors, 17–33. Berlin, Heidelberg: Springer Berlin Heidelberg, 1990. http://dx.doi.org/10.1007/978-3-642-75984-0_2.

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Wahrburg, Jürgen. "Effective Integration of Sensors and Industrial Robots by Means of a Versatile Sensor Control Unit." In Robotic Systems, 569–76. Dordrecht: Springer Netherlands, 1992. http://dx.doi.org/10.1007/978-94-011-2526-0_65.

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Dessen, F., and J. G. Balchen. "Fast Sensory Control of Robot Manipulators." In Traditional and Non-Traditional Robotic Sensors, 1–15. Berlin, Heidelberg: Springer Berlin Heidelberg, 1990. http://dx.doi.org/10.1007/978-3-642-75984-0_1.

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Lumia, Ronald. "Sensor-Based Robot Control Requirements for Space." In Traditional and Non-Traditional Robotic Sensors, 403–21. Berlin, Heidelberg: Springer Berlin Heidelberg, 1990. http://dx.doi.org/10.1007/978-3-642-75984-0_25.

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Raczkowsky, Jörg, and Ulrich Rembold. "Sensor Data Integration for the Control of an Autonomous Robot." In Traditional and Non-Traditional Robotic Sensors, 329–38. Berlin, Heidelberg: Springer Berlin Heidelberg, 1990. http://dx.doi.org/10.1007/978-3-642-75984-0_21.

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Lima, Miguel F. M., and J. A. Tenreiro Machado. "A Multidimensional Scaling Classification of Robotic Sensors." In Intelligent Systems, Control and Automation: Science and Engineering, 377–86. Dordrecht: Springer Netherlands, 2012. http://dx.doi.org/10.1007/978-94-007-4722-7_35.

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Hulliger, Manuel. "Proprioceptive Feedback for Sensory-Motor Control." In Sensors and Sensory Systems for Advanced Robots, 21–47. Berlin, Heidelberg: Springer Berlin Heidelberg, 1988. http://dx.doi.org/10.1007/978-3-642-83410-3_2.

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Wahrburg, Jürgen. "Control Concepts for Industrial Robots Equipped with Multiple and Redundant Sensors." In Highly Redundant Sensing in Robotic Systems, 277–91. Berlin, Heidelberg: Springer Berlin Heidelberg, 1990. http://dx.doi.org/10.1007/978-3-642-84051-7_15.

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Conference papers on the topic "Robotic sensors and control"

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Dhami, Sukhdeep S., Ashutosh Sharma, Rohit Kumar, and Parveen Kalra. "Gesture Based Control of a Simulated Robot Manipulator." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-47419.

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The number of industrial and household robots is fast increasing. A simpler human-robot interaction is preferred in household robotic applications as well as in hazardous environments. Gesture based control of robots is a step in this direction. In this work, a virtual model of a 3-DOF robotic manipulator is developed using V-Realm Builder in MATLAB and the mathematical models of forward and inverse kinematics of the manipulator are coded in MATLAB/Simulink software. Human hand gestures are captured using a smartphone with accelerometer and orientation sensors. A wireless interface is provided for transferring smartphone sensory data to a laptop running MATLAB/Simulink software. The hand gestures are used as reference signal for moving the wrist of the robot. A user interface shows the instantaneous joint angles of robot manipulator and spatial coordinates of robot wrist. This simple yet effective tool aids in learning a number of aspects of robotics and mechatronics. The animated graphical model of the manipulator provides a better understanding of forward and inverse kinematics of robot manipulator. The robot control using hand gestures generates curiosity in student about interfacing of hardware with computer. It may also stimulate new ideas in students to develop virtual learning tools.

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Dang, Fengying, and Feitian Zhang. "Identification of Hydrodynamic Coefficients of a Robotic Fish Using Improved Extended Kalman Filter." In ASME 2017 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dscc2017-5385.

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Bio-inspired robotic fish have received an increasingly rapid development in recent years due to their advanced performances, such as high energy efficiency and high maneuverability. An accurate dynamic model is essential to the design and control of such robots. Hydrodynamic co-efficients play an important role in modeling the robot, which are usually obtained from theoretical calculation or water tunnel experiments. This paper proposes a novel method for hydrodynamic coefficients identification using an improved Kalman filter with angular velocity and distributed pressure measurements, which are typically available from the robot’s on-board sensors. Simulation based on a Joukowski airfoil shaped robotic fish demonstrates the proposed method.

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Zhao, Jianguo, and Ali Abbas. "A Low-Cost Soft Coiled Sensor for Soft Robots." In ASME 2016 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/dscc2016-9916.

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Soft robots made from soft materials can closely emulate biological system using simple soft mechanical structures. Compared with traditional rigid-link robots, they are safe to work with humans and can adapt to confined environments. As a result, they are widely used for various robotic locomotions and manipulations. Nevertheless, for soft robots, being able to sense its state to enable closed-loop control using soft sensors remains a challenge. Existing sensors include external sensors such as camera systems, electromagnetic tracking systems, and internal sensors such as optical fibers, conductive liquid, and carbon black filled strips. In this paper, we investigate a new soft sensor made from low-cost conductive nylon sewing threads. By continuously inserting twists into a thread under some weight, coils can be formed to enable a coiled soft sensor. The resistance of the sensor varies with the change of length. The fabrication and experiments for this new coiled sensor is described in this paper. Embedding this sensor to a 3D printed soft manipulator demonstrates the sensing capability. Compared to existing soft sensors, the coiled sensor is low-cost, easy to fabricate, and can also be used as an actuator. It can be embedded to any soft robot to measure the deformation for closed-loop feedback control.

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Hyun, Baro, Justin Jackson, Andrew Klesh, Anouck Girard, and Pierre Kabamba. "Robotic Exploration with Non-Isotropic Sensors." In AIAA Guidance, Navigation, and Control Conference. Reston, Virigina: American Institute of Aeronautics and Astronautics, 2009. http://dx.doi.org/10.2514/6.2009-6267.

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Azimi, Ehsan, Baichuan Jiang, Ethan Tang, Peter Kazanzides, and Iulian Iordachita. "Teleoperative control of intraocular robotic snake: Vision-based angular calibration." In 2017 IEEE SENSORS. IEEE, 2017. http://dx.doi.org/10.1109/icsens.2017.8234072.

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Sanchez, Sean R., and Sean B. Andersson. "Using Compressive Sensing With In-Air Ultrasonic Measurements for Robotic Mapping." In ASME 2018 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/dscc2018-9140.

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Robotic mapping and simultaneous localization and mapping (SLAM) typically rely on sensors that produce a large number of measurements at many locations in an environment to produce an accurate map and, in the case of SLAM, the pose of the robot in that map. However, with the advent of small, low-power robots with insect-scale features, there is a need for techniques that can produce useful maps using limited capability sensors and a small number of measurements. In this work, we focus on the use of compressive sensing to extract local environment reconstructions from ultrasonic sensor measurements. We first examine a simplistic setting where a square pulse is emitted and use the returned echoes in a compressive sensing scheme to reconstruct the locations of objects inside the sensing cone. We then extend this to the more practical setting, accounting for the wave nature of the acoustic signal and corresponding issues of interference, showing that these can be accounted for in designing the measurement matrix of the compressive sensing description of the problem. We demonstrate the performance of our approach though several simulations.

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"PROSPECTIVE ROBOTIC TACTILE SENSORS - Elastomer-Carbon Nanostructure Composites as Prospective Materials for Flexible Robotic Tactile Sensors." In 5th International Conference on Informatics in Control, Automation and Robotics. SciTePress - Science and and Technology Publications, 2008. http://dx.doi.org/10.5220/0001497802340238.

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Cen, Na, Kaiyu Cheng, and Baris Fidan. "Formation control of robotic swarms based on sonar sensing." In 2009 Fifth International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP 2009). IEEE, 2009. http://dx.doi.org/10.1109/issnip.2009.5416777.

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Akcadag, C., A. Shirkhodaie, and A. H. Soni. "Computer Control of a Flexible Robotic Cell." In ASME 1992 Design Technical Conferences. American Society of Mechanical Engineers, 1992. http://dx.doi.org/10.1115/detc1992-0450.

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Abstract Intelligent robotic systems require a tremendous flexibility and intelligence to execute complex tasks. To facilitate task planning of intelligent robots and integrate sensory information for on-line task monitoring, there is a need to establish a communication linkage between robot controller and human operator through a computer. This paper presents the design of a generic cell controller for intelligent planning and execution of robotic cell operations and for real-time task monitoring. This paper details the architecture of hardware and software developed for the control of a commercial robot interfaced with a computer through a parallel I/O communication bus. Results indicate that by means of a relatively inexpensive setup, flexibility with regard to coordinated activities of robotic cells can be greatly increased.

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Safaei, Ali, Yeong Chin Koo, and Muhammad Nasiruddin Mahyuddin. "Adaptive model-free control for robotic manipulators." In 2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS). IEEE, 2017. http://dx.doi.org/10.1109/iris.2017.8250090.

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Reports on the topic "Robotic sensors and control"

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Baillieul, John. Sensor Based Control of Robotic Mechanisms. Fort Belvoir, VA: Defense Technical Information Center, August 1990. http://dx.doi.org/10.21236/ada226784.

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Nelson, Randal C., Martin Jaegersand, and Olac Fuentes. Virtual Tools. A Framework for Simplifying Sensory-Motor Control in Robotic Systems. Fort Belvoir, VA: Defense Technical Information Center, March 1995. http://dx.doi.org/10.21236/ada300060.

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Starr, G. Sensor-driven robot control and mobility: Final report. Office of Scientific and Technical Information (OSTI), May 1989. http://dx.doi.org/10.2172/5912296.

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Redden, Elizabeth S., Christian B. Carstens, and Rodger A. Pettitt. Intuitive Speech-based Robotic Control. Fort Belvoir, VA: Defense Technical Information Center, April 2010. http://dx.doi.org/10.21236/ada519652.

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Buford, Christopher, and Beth Boardman. Using ROS for Robotic Control. Office of Scientific and Technical Information (OSTI), July 2021. http://dx.doi.org/10.2172/1810519.

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Bahr, A. J., and A. Rosengreen. Electromagnetic Sensor Arrays for Nondestructive Evaluation and Robot Control. Fort Belvoir, VA: Defense Technical Information Center, October 1985. http://dx.doi.org/10.21236/ada171128.

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Eisler, G. R., R. D. Robinett, C. R. Dohrmann, and B. J. Driessen. Self-repairing control for damaged robotic manipulators. Office of Scientific and Technical Information (OSTI), March 1997. http://dx.doi.org/10.2172/456310.

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Levin, B. F., J. N. Dupont, and A. R. Marder. Robotic weld overlay coatings for erosion control. Office of Scientific and Technical Information (OSTI), April 1993. http://dx.doi.org/10.2172/6136152.

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Gotten, Jr, and William M. Robotic Control Using Muscular and Neural Electrical Signals. Fort Belvoir, VA: Defense Technical Information Center, May 1994. http://dx.doi.org/10.21236/ada284908.

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Gabrielson, Thomas B. Control-Loop Design for Nonlinear Sensors. Fort Belvoir, VA: Defense Technical Information Center, September 2000. http://dx.doi.org/10.21236/ada381918.

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