Presentado al 10th International Symposium on Advances in Robot Kinematics (ARK/2006) celebrado en Lyubljana (Eslovenia). ; Wire-based tracking devices are an affordable alternative to costly tracking devices. They consist of a fixed base and a platform, attached to the moving object, connected by six wires whose tension is maintained along the tracked trajectory. One important shortcoming of this kind of devices is that they are forced to operate in reduced workspaces so as to avoid singular configurations. Singularities can be eliminated by adding more wires but this causes more wire interferences, and a higher force exerted on the moving object by the measuring device itself. This paper shows how, by introducing a rotating base, the number of wires can be reduced to three, and singularities can be avoided by using an active sensing strategy. This also permits reducing wire interference problems and the pulling force exerted by the device. The proposed sensing strategy minimizes the uncertainty in the location of the platform. Candidate motions of the rotating base are compared selected automatically based on mutual information scores. ; This work was supported by projects: 'Design and implementation of efficient parallelizable algorithms with applications to robotics and proteomics' (J-00869), 'Planificador de trayectorias para sistemas robotizados de arquitectura arbitraria' (J-00930), 'Integration of robust perception, learning, and navigation systems in mobile robotics' (J-0929), 'Perception, action & cognition through learning of object-action complexes.' (4915). ; J. Andrade-Cetto completed this work as a Juan de la Cierva Post-doctoral Fellow of the Spanish Ministry of Education and Science under project TIC2003-09291 and was also supported in part by projects DPI 2004-05414, and the EU PACO-PLUS project FP6-2004-IST-4-27657. F. Thomas was partially supported by the Spanish Ministry of Education and Science, projects TIC2003-03396 and DPI 2004-07358, and the Catalan Research Commission, through the Robotics and Control Group. ; Peer Reviewed
Wire-based tracking using mutual information
2006-01-01
Conference paper
Electronic Resource
English
DDC: | 629 |
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