Design and application of the field-bus-based intelligent robot plug and play sensing system

In this paper, a novel design and application method of intelligent robot sensing system is presented in this paper. The multi-functional perceptual system consists of heterogeneous kinds of sensors, such as six-dimensional force/torque, tactile, vision, etc. Supported by the field-bus-based data acquisition and transmission technology, all the sensors work in an open connection environment, namely, plug and play format, which means any sensor node can be added into or removed from this perceptual system dynamically according to the changing requirement of each task. This function makes it much easier to adjust the structure and performance of intelligent robot. The hardware structure and processing procedures are also elaborated.