Abstract
A method for calculating sensor resolution for a variety of robotic applications is presented. This method is based on mapping resolution requirements specified in the "task space" into the "sensor space." In general, a solution is not unique, and a criterion must be applied to solve for the sensor resolution. Two criteria are of particular interest: (1) the minimization of the maximum sensor resolution for all sensors and (2) uniform sensor resolution in the task space. This method, which is very general and may be applied to many other types of problems, is described by means of two example problems: (1) selecting joint sensors for a 2 degree of freedom (dof) lightweight robot, and (2) selecting linear position sensors for the positioning of planar polygonal parts.