Improved control of a sensor-based industrial robot

@article{Johnson1985ImprovedCO,
  title={Improved control of a sensor-based industrial robot},
  author={David S. Johnson and John Hill},
  journal={1985 24th IEEE Conference on Decision and Control},
  year={1985},
  pages={364-365}
}
A new programming system is described which controls a sensor-based industrial robot using the C programming language. Robot motion commands are qualified by specifying the desired sensor readings at the end of the move. The total applied correction is subsequently used to update the estimate of pretaught locations using a Kalman fulter.