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Sensors 2017, 17(4), 852; doi:10.3390/s17040852

Improved Object Detection Using a Robotic Sensing Antenna with Vibration Damping Control

1
Escuela Técnica Superior de Ingenieros Industriales, Universidad de Castilla-La Mancha, 13071 Ciudad Real, Spain
2
Instituto de Investigaciones Energéticas y Aplicaciones Industriales (INEI), Campus Universitario de Ciudad Real, 13071 Ciudad Real, Spain
3
Engineering and Architecture Faculty, Mechatronic Engineering, Istanbul Gelisim University, Cihangir mah. Sehit Jandarma Komando Er Hakan Oner Sk. No. 1 Avcilar, 34351 Istanbul, Turkey
*
Author to whom correspondence should be addressed.
Academic Editor: Gonzalo Pajares Martinsanz
Received: 31 January 2017 / Revised: 5 April 2017 / Accepted: 7 April 2017 / Published: 13 April 2017
(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Spain 2016)
View Full-Text   |   Download PDF [10692 KB, uploaded 14 April 2017]   |  

Abstract

Some insects or mammals use antennae or whiskers to detect by the sense of touch obstacles or recognize objects in environments in which other senses like vision cannot work. Artificial flexible antennae can be used in robotics to mimic this sense of touch in these recognition tasks. We have designed and built a two-degree of freedom (2DOF) flexible antenna sensor device to perform robot navigation tasks. This device is composed of a flexible beam, two servomotors that drive the beam and a load cell sensor that detects the contact of the beam with an object. It is found that the efficiency of such a device strongly depends on the speed and accuracy achieved by the antenna positioning system. These issues are severely impaired by the vibrations that appear in the antenna during its movement. However, these antennae are usually moved without taking care of these undesired vibrations. This article proposes a new closed-loop control schema that cancels vibrations and improves the free movements of the antenna. Moreover, algorithms to estimate the 3D beam position and the instant and point of contact with an object are proposed. Experiments are reported that illustrate the efficiency of these proposed algorithms and the improvements achieved in object detection tasks using a control system that cancels beam vibrations. View Full-Text
Keywords: robotic sensor; obstacle recognition; sensing antenna; flexible robot; motion control; active vibration damping; impact detection robotic sensor; obstacle recognition; sensing antenna; flexible robot; motion control; active vibration damping; impact detection
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Feliu-Batlle, V.; Feliu-Talegon, D.; Castillo-Berrio, C.F. Improved Object Detection Using a Robotic Sensing Antenna with Vibration Damping Control. Sensors 2017, 17, 852.

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