English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

In this paper, we propose a novel performance metric for articulated roboticmechanisms called the sensor observability analysis and the resulting sensorobservability index. The goal is to analyse and evaluate the performance ofrobot-mounted distributed directional or axial-based sensors to observespecific axes in task space as a function of joint configuration. For example,joint torque sensors are often used in serial robot manipulators and assumed tobe perfectly capable of estimating end effector forces, but certain jointconfigurations may cause one or more task-space axes to be unobservable as aresult of how the joint torque sensors are aligned. The proposed sensorobservability analysis provides a method to analyse the cumulative quality of arobot configuration to observe the task space, akin to forward kinematics forsensors. The resultant metrics can then be used in optimization and innull-space control to avoid sensor observability singular configurations or tomaximize sensor observability in particular directions. Parallels are drawnbetween sensor observability and the traditional kinematic Jacobian for theparticular case of joint torque sensors in serial robot manipulators. Comparedto kinematic analysis using the Jacobian in serial manipulators, sensorobservability analysis is shown to be more generalizable in terms of analysingnon-joint-mounted sensors and can potentially be applied to sensor types otherthan for force sensing, e.g., link-mounted proximity sensors. Simulations andexperiments using a custom 3-DOF robot and the Baxter robot demonstrate theutility and importance of sensor observability in physical interactions.

Sensor Observability Analysis for Maximizing Task-Space Observability of Articulated Robots