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http://hdl.handle.net/10261/30591
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dc.contributor.author | Andrade-Cetto, Juan | - |
dc.contributor.author | Thomas, Federico | - |
dc.date.accessioned | 2010-12-17T13:38:38Z | - |
dc.date.available | 2010-12-17T13:38:38Z | - |
dc.date.issued | 2008 | - |
dc.identifier.citation | IEEE Transactions on Robotics 24(3): 642-651 (2008) | - |
dc.identifier.issn | 1552-3098 | - |
dc.identifier.uri | http://hdl.handle.net/10261/30591 | - |
dc.description.abstract | Wire-based tracking devices are an affordable alternative to costly tracking devices. They consist of a fixed base and a platform, attached to the moving object, connected by six wires whose tension is maintained along the tracked trajectory. One important shortcoming of these devices is that they are forced to operate in reduced workspaces so as to avoid singular configurations. Singularities can be eliminated by adding more wires, but this causes more wire interferences, and a higher force exerted on the moving object by the measuring device itself. This paper shows how, by introducing a rotating base, the number of wires can be reduced to three, and singularities can be avoided by using an active sensing strategy. This also permits reducing wire interference problems and the pulling force exerted by the device. | - |
dc.description.sponsorship | This work was supported by projects: 'Perception, action & cognition through learning of object-action complexes.' (4915), 'Analysis and motion planning of complex robotic systems' (4802), 'CONSOLIDER-INGENIO 2010 Multimodal interaction in pattern recognition and computer vision' (V-00069). This work was supported in part by the European Union (EU) under project Perception, Action, and Cognition through Learning of Object-Action-Complexes (PACO-PLUS) project under Grant FP6-2004-IST-4-27657, in part by the Consolider Ingenio 2010 project under Grant CSD2007-00018, and in part by the Spanish Ministry of Education and Science project under Grant DPI 2007-60858. The work of J. Andrade-Cetto was supported by the Spanish Ministry of Education and Science under the Ramón y Cajal Postdoctoral Fellowship. | - |
dc.language.iso | eng | - |
dc.publisher | Institute of Electrical and Electronics Engineers | - |
dc.relation.isversionof | Publisher's version | - |
dc.rights | openAccess | - |
dc.subject | Active sensing | - |
dc.subject | Kalman filtering | - |
dc.subject | Mutual information | - |
dc.subject | Parallel manipulators | - |
dc.subject | Tracking devices | - |
dc.subject | Robots | - |
dc.title | A wire-based active tracker | - |
dc.type | artículo | - |
dc.identifier.doi | 10.1109/TRO.2008.924260 | - |
dc.description.peerreviewed | Peer Reviewed | - |
dc.relation.publisherversion | http://dx.doi.org/10.1109/TRO.2008.924260 | - |
dc.type.coar | http://purl.org/coar/resource_type/c_6501 | es_ES |
item.openairetype | artículo | - |
item.grantfulltext | open | - |
item.cerifentitytype | Publications | - |
item.openairecristype | http://purl.org/coar/resource_type/c_18cf | - |
item.fulltext | With Fulltext | - |
item.languageiso639-1 | en | - |
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A wire-based.pdf | 1,16 MB | Adobe PDF | Visualizar/Abrir |
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