Hostname: page-component-cd9895bd7-hc48f Total loading time: 0 Render date: 2024-12-19T01:55:56.642Z Has data issue: false hasContentIssue false
  • English
  • Français

Characteristics and signal processing of a proximity sensor

Published online by Cambridge University Press:  09 March 2009

Y.F. Li
Y.F. Li
Affiliation:
Robotics Research Group, Department of Engineering Science, Oxford University, Oxford (UK)
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents a fibre optic proximity sensor suitable for robotic applications. The sensor characteristics are first identified through experiments. Then the signal processing problem is studied for general applications where no prior knowledge of the sensor environment is assumed. The nonlinear filtering is carried out by applying a Kalman Filter. Particular attention is paid to the target nature dependence of the sensor output. Experimental results are reported by using the sensors on a real robot system.

Keywords

Proximity sensorCharacteristics identificationKalman filterRobotsSignal processing
Type
Article
Information
Robotica , Volume 12 , Issue 4 , July 1994 , pp. 335 - 341
Copyright
Copyright © Cambridge University Press 1994

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Espiau, B., “An Overview of Local Environment Sensing in Robotic Applications” Sensors and Sensory Systems for Advanced Robots (Springer-Verlag, Berlin, 1988) pp. 125–151CrossRefGoogle Scholar
2.Balek, D.J. and Kelley, R.B., “Using GripperMounted Infrared Proximity Sensors for Robot Feedback Control” Proc. IEEE Int. Conference on Robotics and Automation (1985) pp. 282–287.Google Scholar
3.Karkkainen, P. and Pieska, S., “Robot Dynamic Sensors Based on Fibre Optic for Precision Assembly” 7th It. Conference on Robot Vision and Sensory Control (02. 1988) pp. 209–219.Google Scholar
4.Andre, G., “A Multi-Proximity Sensor System for the Guidance of Robot End Effectors” 5th Int. Conference on Robotics, Vision and Sensory Control (1985) pp. 483–493.Google Scholar
5.Wampler, C., “Multiprocessor Control of a Telemanipulator with Optical Proximity Sensors” Int. J. Robotics Research 3, No. 1, 40–50 (1984).CrossRefGoogle Scholar
6.Cheung, E. and Lumelsky, V.J., “Proximity Sensing in Robot Manipulator Motion Planning: System and Implementation Issues” IEEE Trans. on Robotics and Automation RA-5, No. 6, 740–751 (1989).CrossRefGoogle Scholar
7.Li, Y.F. and Daniel, R.W., “Real-Time Sensor Based Approach the Improvement of Transitions of Robot Manipulator Controls” Proc 8th Int. Conference on CAD/CAM, Robotics and Factories of the Future (1991) pp. 368–371.Google Scholar
8.Li, Y.F., Daniel, R.W. and Sharkey, P.M., “Extended Kalman Filtering for Robotic Proximity Sensing” Proc. IEEE Int. Conference on Decision and Control (1991) pp. 1041–1042.Google Scholar
9.Cook, R.O. and Hamm, C.W., “Fibre Optic Lever Displacement Transducer” Applied Optics 18, No. 19, 3230–3241 (1979).Google ScholarPubMed
10.Li, Y.F., “Robot Proximity Sensing and a Strategy for Transition Control” PhD Thesis (University of Oxford, 01. 1993).Google Scholar
11.Bar-Shalom, Y. and Fortran, T., Tracking and Data Association (Academic Press, New York, 1988).Google Scholar