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Online calibration of one-dimensional sensors for robot manipulation tasks
Jan Deiterding , Dominik Henrich

Abstract (english)
The purpose of this paper is to enable a developer to easily employ external sensors emitting a one-dimensional signal for flexible robot manipulation. To achieve this, the sensor must be calibrated using data tuples describing the relation between the positional change of the supervised object and the resulting sensor value. This information is used for adaptation methods, thus enabling robots to react flexibly to changes such as workspace variations or object drifts. We present a sensor-independent method to incrementally generate new data tuples describing this relation during multiple task executions. This method is based on the Secant method and is the only generally applicable solution to this problem. The method can be integrated easily into robot programs without detailed knowledge about its functionality.


Publication data

Year: 2009
Publication date: 01. July 2009
Place: Milan, Italy
Source: ICINCO - 6th international conference on informatics in control, automation and robotics 2009
Project: A-BOT
Keywords (english): adaptive systems , compliant assembly , industrial robots , on-line algorithms , optimization methods , robot calibration , robot programming , sensor-based programming
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=deiterding2009b

BibTeX

@ARTICLE{deiterding2009b,
  TITLE             = "Online calibration of one-dimensional sensors for robot manipulation tasks",
  AUTHOR            = "Deiterding, Jan and Henrich, Dominik",
  YEAR              = "2009",
  JOURNAL           = "ICINCO - 6th international conference on informatics in control, automation and robotics 2009 ",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=deiterding2009b}",
}

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deiterding2009b.Online.calibration.of.onedimensional.sensors.for.robot.manipulation.tasks.pdf   265.2K   english   PDF   download preprint


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