A proximity sensor and its application in real-time robot control

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Youfu Li

Published: 1994, Last Modified: 17 May 2025Robotics Auton. Syst. 1994EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: This paper presents a fibre optic proximity sensor suitable for use in direct robot end-effector position control. Due to the nonlinearity of the sensor output, the signal processing is carried out by applying an Extended Kalman Filter. The dynamics of the environmentally closed loop is studied. The implementation is carried out on a PUMA 560 robot manipulator with a transputer network providing real-time computing power.