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Ultrasound speed compensation in an ultrasonic robot tracking system

Published online by Cambridge University Press:  23 April 2001

W. T. Kuang  and
A. S. Morris
W. T. Kuang
Affiliation:
Department of Automatic Control and Systems Engineering, University of Sheffield, Mappin Street, Sheffield S1 3JD (UK)
A. S. Morris
Affiliation:
Department of Automatic Control and Systems Engineering, University of Sheffield, Mappin Street, Sheffield S1 3JD (UK)[email protected]
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Abstract

This paper presents a novel method for ultrasound speed compensation in ultrasonic robot tracking. It employs optimization algorithms to estimate the best value of the ultrasound speed for every computation of the robot end-effector position. Compared with the other existing method for ultrasound speed compensation, this method has the advantage that no extra equipment is required to monitor the environment conditions (temperature etc.). The simulation, which is described at the end of this paper, shows that the real trajectory is extracted with very good precision from a set of distorted data caused by serious ultrasound speed drifting.

Keywords

Ultrasonic systemRobot trackingSpeed compensationReal trajectory
Type
Research Article
Information
Robotica , Volume 18 , Issue 6 , November 2000 , pp. 633 - 637
Copyright
© 2000 Cambridge University Press

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