Integrated Multi Sensor Fusion for Robotic Manipulator Systems

Abstract

. Robotic manipulators have found extensive use in automation, healthcare, and collaborative robotics, with precision and safety paramount. The use of a single-sensor solution can be insufficient in unstructured conditions, and though the concept of multi-sensor integration enhances the performance, systematic engineering analysis is still scanty. In this paper, the research studies concerning the multi-sensor application on robotic manipulators are reviewed with respect to combining joint encoders, force/torque sensors, and vision sensors. Actual experimental performance demonstrates the use of millimeter-inch positioning in visits, sub-newton force estimation precision, and millisecond collision detection in visits. The results reveal that multi-sensor technology is always more accurate and safe compared to single-sensor ones. However, the real-life problems of calibration, synchronization, and system complexity are still pertinent problems to be taken into consideration.