Question

In Fig. 3.31, the location of the tool, WT, is not accurately known. Using force control, the robot feels around with the tool tip until it inserts it into the socket (or goal) at location SGT.

Options:
a) Position-based
b) Feedback-driven
c) Sensor-guided
d) Goal-directed

Answer 1

The process described is sensor-guided manipulation, where a robot uses sensors and a feedback-driven approach to insert a tool tip into a socket.

Step-by-step explanation:

When a robot uses the tool tip to feel around for the correct location to insert it into a socket, this process is known as sensor-guided manipulation. The robot is essentially using sensors to detect the proper orientation and position for insertion, compensating for the unknown location through a feedback-driven approach rather than relying solely on predefined positions. This is a common scenario in robotic control systems where precision and adaptability are required.