Extended Kalman filtering for robotic proximity sensing

Li, Y.F., Daniel, R.W. and Sharkey, P. (1991) Extended Kalman filtering for robotic proximity sensing. In: Proceedings of the 30th IEEE Conference on Decision and Control, 1991. IEEE, pp. 1041-1042. ISBN 0-7803-0450-0 doi: 10.1109/CDC.1991.261481

Abstract/Summary

The authors address the problems in using a fiber-optic proximity sensor to detect robot end-effector positioning errors in performing a contact task when uncertainties about target position exist. An extended Kalman filter approach is employed to solve the nonlinear filtering problem. Some experimental results are given.