Intrinsic Tactile Sensing System For Robotic Dexterous Manipulation
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Intrinsic Tactile Sensing System for Robotic Dexterous Manipulation
Author | : Andrés Felipe Ospina Triviño |
Publisher | : |
Total Pages | : 0 |
Release | : 2017 |
Genre | : |
ISBN | : |
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Tactile sensing and slip detection plays an important role in enabling robotic dexterous object manipulation. Thus developing a high-resolution fully integrated tactile sensor system is of great interest. This work deals the design and implementation of an intrinsic tactile sensing system based on a set of 3-axis force MEMs sensors and the detection of slippage with such system. In order to create a tactile system the 3-axis force sensors are protected by a coating, a study about the coating is made. Two different intrinsic systems based on an array of 3-axis force sensors are developed, the first one is used a feasibility test of this kind of system. The second intrinsic system is adapted to a robotic finger with soft surface. The proposed systems measures three-force components, the normal torque to the contact surface, and the position of the contact centroid applied to its sensitive surface. Both systems are characterized and tested. The detection of slippage with an intrinsic tactile system is tested. The application of the limit surface theory and the viscoelastic model of contact make the detection of slippage.
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