Robot Floor-Tiling Control Method Based on Finite-State Machine and Visual Measurement in Limited FOV

Table 3

Robot operation control variables and function description.

Action execution	Control variable	Function
Camera		Perform a camera action to get a picture
Robotic arm		Perform a movement of the robotic arm
End effector		Grab and place a ceramic tile with vacuum suction cups
Laser sensor		Take vertical height measurement
Edge detector		Detect the tile edge
Position calculation		Calculate the deviation between the actual position of the tiles and the expected position