Robot end-effector orientation control using proximity sensors

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Pages (from-to)323-331
Journal / PublicationRobotics and Computer Integrated Manufacturing
Issue number5
Publication statusPublished - Oct 1993
Externally publishedYes


By virtue of their high accuracy and fast response, intensity-based fibre optic proximity sensors have found applications in robot end-effector position control. Unfortunately, their characteristics show that the sensor is incapable of orientation sensing. To detect robot orientation errors, a multi-sensor approach is adopted and a detection strategy developed. The problems with real-time orientation control are studied in the context of general robot Cartesian space position control. The performance of the proposed strategy has been tested on a PUMA 560 robot and the results are presented in this paper. Successful applications of the strategy developed are demonstrated in target tracking and surface following. © 1994.