Sensorfusion bei der Prozessausführung
Precision and fine motor skills are necessary for various tasks and can
be crucial whether robots can be assigned to take on these tasks.
Today‘s robots have the ability to beat the worlds chess masters.
However, painting a face on a filigree chess piece is challenging for a
robot but not for a child.
Sensor fusion is a fundamental tool to accurately execute robotic tasks.
For this purpose, sensor fusion aims to capture a complete picture of an
environment by perceiving as many different impressions as possible.
This goal is realized by combining multiple sensors to work in synergy,
with the sensors detecting different physical effects and providing
corresponding measurement signals. For example, an object can be „seen“
and „felt“ by a a robot.
For our goals of using a robotic system to process surfaces in any, sensors are
used to allow the interaction between the robot, the surface to be processed
and a processing tool. For the interaction it is interesting, for example,
how the components are oriented to each other and how much distance
there is between the tool and the surface. Sensors that work with laser
beams or inertial measurement units can capture this information. It is also
important to know the force with which the tool acts on a surface during machining.
Force and torque sensors are suitable for this purpose. Other sensors that
provide information about the interaction between the robot, tool and surfaces
are for example capacitive or inductive sensors.
In this project, sensor fusion is used to estimate the position and
orientation of a tool at the end-effector of a robot. If the tool is
processing a surface, sensor fusion provides the basis for estimating
contact forces that exist between the tool and the surface to be
processed. For example, the selection of sensors and the methods of
their fusion thus form the basis for precise processing of object
surfaces by a robot.