A survey and experimental evaluation of proximity sensors for space robotics

摘要

This paper provides an overview of the authors' selection process for proximity sensors for manipulator collision avoidance. Five categories of sensors have been considered for this use in space operations: intensity of reflection, triangulation, time of flight, capacitive, and inductive. From these categories, the most promising commercial and mature laboratory prototype sensors have been selected and tested. After reviewing the selection process and the experimental results, conclusions are drawn about which sensors are best and why.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>