한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제31권2호
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  • Pages.157-164
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  • 2014
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
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Slip Detection of Robot Gripper with Flexible Tactile Sensor

  • 서지원 (부산대학교 기계공학부) ;
  • 이주경 (부산대학교 기계공학부) ;
  • 이석 (부산대학교 기계공학부) ;
  • 이경창 (부경대학교 제어계측공학과)
  • Seo, Ji Won (School of Mechanical Engineering, Pusan Nat'l Univ.) ;
  • Lee, Ju Kyoung (School of Mechanical Engineering, Pusan Nat'l Univ.) ;
  • Lee, Suk (School of Mechanical Engineering, Pusan Nat'l Univ.) ;
  • Lee, Kyung Chang (Department of Control and Instrumentation Engineering, Pukyong Nat'l Univ.)
  • 투고 : 2013.12.04
  • 심사 : 2014.01.21
  • 발행 : 2014.02.01
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초록

In this paper, we design a gripping force control system using tactile sensor to prevent slip when gripper tries to grasp and lift an object. We use a flexible tactile sensor for measuring uniplanar pressure on gripper's finger and develop an algorithm to detect the onset of slip using the sensor output. We also use a flexible pressure sensor to measure the normal force. In addition, various signal processing techniques are used to reduce noise included in the sensor output. A 3-finger gripper is used to grasp and lift up a cylindrical object. The tactile sensor is attached on one of fingers, and sends output signals to detect slip. Whenever the sensor signal is similar to the slip pattern, gripper force is increased. In conclusion, this research shows that slip can be detected using the tactile sensor and we can control gripping force to eliminate slip between gripper and object.

키워드

참고문헌

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