Advances in sensor-controlled robotics : distributed multi-sensor data processing and the Linköping hand

Sammanfattning: Industrial robots are moronic machines capable only of mere point-to-point movements. If parts are slightly misplaced, or out of tolerance, smashup will result. To adapt the robot to its environment, sensors may be used. This will in turn cause new problems: which sensors should be used, how combine data from several disparate sources, etc. In this thesis, these issues are addressed by the development of:a three-fingered robot gripper designed to be used as a test bed for research on sensor-controlled robotsrecursive least squares algorithms for distributed sensor processingfuzzy distance measuresIn addition, a practical example of a multi-sensor system is provided in the Linköping Wine Server.