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Algorithm for robot position tracking using ultrasonics

Algorithm for robot position tracking using ultrasonics

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Extending previous work on ultrasonic robot tracking, a new geometric position-calculation algorithm is introduced. This removes the need to locate the ultrasonic receivers at fixed positions on orthogonal axes, equidistant from the origin, and offers substantial advantages in terms of improved accuracy and flexibility.

Inspec keywords: manipulator dynamics; tracking; ultrasonic applications

Other keywords: flexibility; ultrasonic receivers; ultrasonic robot tracking; accuracy; geometric position-calculation algorithm; robot position tracking

Subjects: Manipulators

References

    1. 1)
      • Morris, A.S., Dickinson, M., Zalzala, A.M.S.: `An enhanced ultrasonicsystem for robot end-effector tracking', Proc. Control 91, 1991, Edinburgh, p. 352–357.
    2. 2)
      • M. Dickinson , A.S. Morris . Co-ordinate determination and performance analysis for robot manipulators. IEE Proc. A , 95 - 98
http://iet.metastore.ingenta.com/content/journals/10.1049/el_19990037
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