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Proceedings Paper

A Method Of Calculating Optimal Sensor Resolution For Robotic Applications
Author(s): Michael P. Hennessey; Kurt C. Meyer
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Paper Abstract

A method for calculating sensor resolution for a variety of robotic applications is presented. This method is based on mapping resolution requirements specified in the "task space" into the "sensor space." In general, a solution is not unique, and a criterion must be applied to solve for the sensor resolution. Two criteria are of particular interest: (1) the minimization of the maximum sensor resolution for all sensors and (2) uniform sensor resolution in the task space. This method, which is very general and may be applied to many other types of problems, is described by means of two example problems: (1) selecting joint sensors for a 2 degree of freedom (dof) lightweight robot, and (2) selecting linear position sensors for the positioning of planar polygonal parts.

Paper Details

Date Published: 22 March 1988
PDF: 9 pages
Proc. SPIE 0849, Automated Inspection and High-Speed Vision Architectures, (22 March 1988); doi: 10.1117/12.942819
Show Author Affiliations
Michael P. Hennessey, The Advanced Systems Center of FMC Corporation (United States)
Kurt C. Meyer, The Advanced Systems Center of FMC Corporation (United States)

Published in SPIE Proceedings Vol. 0849:
Automated Inspection and High-Speed Vision Architectures
Rolf-Juergen Ahlers; Michael J. W. Chen, Editor(s)

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