Design and development of a robot arm with distributed sensors

Abstract

Generally, a multi-degree-of-freedom (multi-DOF) actuation system, which intervenes in the real environment as the human arm and hand, tends to require a larger amount of computation as the DOF increases. Particularly, when the situation around the actuation system greatly changes, a massive amount of computation is needed for the system to keep working while avoiding collision with other objects, making it difficult to process data in real time and, consequently, to continue with the work. As an approach to solving this problem, we proposed distributing a number of sensors over the actuation system. We have explored ways to generate motions in real time at low computation cost by utilizing sensor data.

SI2023 Excellent Speaker