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Estimation and Control of a Robot Using Photodiodes

T. Pound, P.R. Bélanger, A. Helmy Two stationary photodiodes receive light from a LED mounted on a robot. Since the 2D projections are mathematically related to the task space position of the LED, the signals can be used in a Kalman filter to estimate the position and velocity of the LED. These estimates serve as inputs to a task-space control algorithm.



Thierry Baron
Mon Apr 7 12:54:24 EDT 1997