Redundancy management and failure detection of ultrasonic ranging sensors for robotic applications

R. Luck, A. Ray

Research output: Contribution to conferencePaper

7 Scopus citations

Abstract

The paper presents a failure detection and isolation (FDI) method for validation of ultrasonic ranging sensor (URS) signals in robot position control systems. The technique builds upon the concepts of parity space and analytic redundancy where integration of analytic and sensor redundancy provides a direct, reliable method for measuring the end effector position of a robot relative to the world coordinates. These measurements are not influenced by deflections caused by the payload, accumulated joint measurement errors in a serial mechanism, and computational errors in executing kinematic relationships. The position control system's insensitivity to structural deflections will allow the robot to handle larger payloads.

Original languageEnglish (US)
Pages557-564
Number of pages8
StatePublished - Dec 1 1988
EventProceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics - Minneapolis, MN, USA
Duration: Jul 18 1988Jul 20 1988

Other

OtherProceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics
CityMinneapolis, MN, USA
Period7/18/887/20/88

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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    Luck, R., & Ray, A. (1988). Redundancy management and failure detection of ultrasonic ranging sensors for robotic applications. 557-564. Paper presented at Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics, Minneapolis, MN, USA, .