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Proceedings Paper

Robot control with multiple sensors and heuristic knowledge
Author(s): Denis E. Malone; Werner E. Friedrich
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Paper Abstract

This paper describes the development of a technique for using data from multiple sensors to plan the path of the end effector of a tool handling robot. The method involves examining data from several sensors with a knowledge-based expert system utilizing heuristic rules. Rather than fusing the sensor data, the data is reduced to individual sensor results which are then fused with the addition of previously established knowledge. The knowledge-base of heuristic rules is used to resolve conflicting information, eliminate unnecessary information, and infer additional information from the sensor results. Further heuristic rules are then used to produce parameters for motion instructions to the robot system. An example of an application of the technique is described.

Paper Details

Date Published: 1 November 1992
PDF: 8 pages
Proc. SPIE 1828, Sensor Fusion V, (1 November 1992); doi: 10.1117/12.131673
Show Author Affiliations
Denis E. Malone, Industrial Research Ltd. (New Zealand)
Werner E. Friedrich, Industrial Research Ltd. (New Zealand)


Published in SPIE Proceedings Vol. 1828:
Sensor Fusion V
Paul S. Schenker, Editor(s)

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