Sensor Observability Index: Evaluating Sensor Alignment for Task-Space Observability in Robotic Manipulators
Christopher Yee Wong,Wael Suleiman,Christopher Yee Wong,Wael Suleiman
In this paper, we propose a preliminary definition and analysis of the novel concept of sensor observability index. The goal is to analyse and evaluate the performance of distributed directional or axial-based sensors to observe specific axes in task space as a function of joint configuration in serial robot manipulators. For example, joint torque sensors are often used in serial robot manipulator...
