OPTIMISATION OF PREHENSION FORCE THROUGH TACTILE SENSING

Robotic manipulation is sensitive to both object characteristics and contact conditions between the robot grippers and the prehended object. The proposed tactile sensor will be applied in grasp experimentation by identifying the least force required for prehension - the method appropriately called pre-slip detections. A predictive model has been proposed which uses a basic method adapted to real applications in grasp optimization. Prevention of premature release with minimum prehension force is addressed without the need to measure the coefficient of friction between an object and a robot gripper. Predictive models have used to develop a set of rules which predict the pre-slip based on fluctuations in tactile signal data. Pre-slips of the contact area just prior to object movement produces rapid stress transients. The stability in object prehension depends on two factors. The first factor is the adequacy of the grasping force. The second factor is the correct contact location.