This paper explores the advantages of sensing rich approaches to the design and operation of the power transmission
mechanism or drive train under servo control. The drive train is a fundamental element of any motion control system.
Three specific cases are presented: 1) vision-based online trajectory generation for contour following for a two link
manipulator, 2) the use of vision image and other sensors such as accelerometers and gyros for end-effector sensing, and
3) sensor-based controller tuning of indirect drive train using accelerometers on the load side. For each of the three
cases, the advantages are demonstrated by experiments.
In this paper, the advantages of sensing rich approaches to the design of mechatronic systems are explored for the power
transmission mechanism or drive train under servo control. The drive train is a fundamental element of any motion
control system. Two cases of utilizing various sensing means for controls of drive trains are presented: 1) the use of
vision cameras for real time generation of the reference inputs for robot joints for tracking of straight lines in the task
space, and 2) the use of accelerometer for fine tuning of the parameters of servo controllers.
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