Jozef Stefan Institute, Jamova 39, Ljubljana, Yugoslavia.
IEEE Trans Pattern Anal Mach Intell. 1983 Feb;5(2):217-20. doi: 10.1109/tpami.1983.4767375.
This paper describes an on-line computer supported tactile sensor that can recognize complex industrial objects, identify a seam location, and track a three-dimensional seam trajectory for an arc welding robot. A one finger tactile sensor with two degrees of freedom is used. The supporting microcomputer system organizes and reduces the useful sensor data from digitized tactile information to a compact symbolic representation which is matched to a knowledge network. A beam search algorithm is used. The hierarchical organization provides that simple features are first detected on the object, and more complex features are examined later. Pruning of the search tree is based on a likelihood function.
本文介绍了一种在线计算机支持的触觉传感器，可用于识别复杂的工业物体、确定焊缝位置，并为弧焊机器人跟踪三维焊缝轨迹。使用了一个具有两个自由度的单指触觉传感器。支撑微计算机系统将数字化触觉信息中的有用传感器数据组织并简化为一个紧凑的符号表示，该表示与知识网络相匹配。使用了束搜索算法。分层组织的方式是首先检测物体上的简单特征，然后再检查更复杂的特征。搜索树的修剪基于似然函数。
