Applications of Sensor Based Control

This paper surveys the use made of sensory feedback in a variety of robotic assembly tasks undertaken at the University of Hull over the past six years. Sensory information has been used for inspection, to allow the location of components with uncertain position and for process monitoring. It will also be shown that the availability of a multitude of sensors to cope with such manifestations of an imprecisely defined environment has implications for workcell design, organisation and control, points which will be explored further in [1].