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Exteroception or robotic work-space sensing is necessary for efficient usage of robots for purposes of manipulation and manufacturing in new and precision-demanding applications-e.g.,robotic precision machining,assembly operations,surgical robotics.In particular,the need for sensor networks and distributed sensing poses new scientific and technological challenges.In addition to established measurement technology for geometric and kinematic data such as robot vision and navigation,there is a need for sensor capacity for physical quantities other than geometric or kinematic ones.In this lecture,we review examples of robotic work-space sensing and control and the current needs for new sensors measuring force,touch,texture,speed,and tool impact. Several robotic assembly use cases would benefit from such new sensor technology.Also,we will compare conditions for sensor-rich and sensor-deprived robotic work spaces.