An Analysis of Position and Velocity Sensor Systems for a 3-Degree-of-Freedom Planar Collaborative Robot
1
Aaron L. Mills
Master's thesis, Department of Mechanical Engineering, Northwestern University, March, 1998.
1997 NWU
http://lims.mech.northwestern.edu/amills-lib/master/amills.pdf
This thesis describes several methods for determining the position and
velocity of a three degree-of-freedom planar collaborative robot
(cobot).  A cobot is a type of robotic device intended to assist a
human operator through direct interaction.  A planar cobot is designed
to roll on a flat surface.  Planar cobots require precise and
continuous knowledge of their position and velocity to interact
smoothly and intuitively with the operator.  Based on these
performance requirements, several position and velocity sensor systems
have been implemented and compared.  The sensor systems described in
this thesis are either based on an odometry or a vision configuration
and use one of several numerical methods to estimate the position and
velocity.  Experimental and theoretical analyses of these systems are
used to evaluate the relationship between the sensor system and cobot
performance.