A Method Of Calculating Optimal Sensor Resolution For Robotic Applications

Michael P. Hennessey; Kurt C. Meyer

doi:10.1117/12.942819

22 March 1988 A Method Of Calculating Optimal Sensor Resolution For Robotic Applications

Michael P. Hennessey, Kurt C. Meyer

Proceedings Volume 0849, Automated Inspection and High-Speed Vision Architectures; (1988) https://doi.org/10.1117/12.942819
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States

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.

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Michael P. Hennessey and Kurt C. Meyer "A Method Of Calculating Optimal Sensor Resolution For Robotic Applications", Proc. SPIE 0849, Automated Inspection and High-Speed Vision Architectures, (22 March 1988); https://doi.org/10.1117/12.942819

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