Publikationsdatenbank
Publication
Online calibration of one-dimensional sensors for robot manipulation tasksJan 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: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?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{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=deiterding2009b}",
}
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| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| deiterding2009b.Online.calibration.of.onedimensional.sensors .for.robot.manipulation.tasks.pdf |
265.2K | english | download preprint |