{"title":"Surface Following and Modelling for Planar N-Link Manipulator Arms Equipped with Proximity Sensors","authors":"C. Pudney","doi":"10.1109/AIHAS.1992.636862","DOIUrl":null,"url":null,"abstract":"This paper presents a surface following algorithm and a surface modelling technique for planar n-link articulated manipulator arms equipped with proximity sensors. The surface following algorithm moves the arm along the surface of an object i n such a way that the arm remains within sensing range of the surface but does not collide with it. The surface model is constructed iteratively f rom sensor data obtained during this motion, and is used by the surface following algorithm t o compute the surface following arm motions.","PeriodicalId":442147,"journal":{"name":"Proceedings of the Third Annual Conference of AI, Simulation, and Planning in High Autonomy Systems 'Integrating Perception, Planning and Action'.","volume":"196 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1992-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the Third Annual Conference of AI, Simulation, and Planning in High Autonomy Systems 'Integrating Perception, Planning and Action'.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AIHAS.1992.636862","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
This paper presents a surface following algorithm and a surface modelling technique for planar n-link articulated manipulator arms equipped with proximity sensors. The surface following algorithm moves the arm along the surface of an object i n such a way that the arm remains within sensing range of the surface but does not collide with it. The surface model is constructed iteratively f rom sensor data obtained during this motion, and is used by the surface following algorithm t o compute the surface following arm motions.
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