Intelligent sensing and force control of a robotic arm manipulator

A prototype sensing system for a robotic manipulator is described. The type of object encountered is identified by comparing the refractive index, dielectric permittivity and constant, and loss tangent values using an RF, millimeter-wave, or infrared techniques. The shape, thickness, diameter, and distance of the object is calculated using a CW He-Ne gas laser. The data are fed to a computer-aided system that determines the weight and orientation of the object; three-mode force control is then implemented, allowing the gripper to do the required job. This system can be applied to hollow objects, thin films, rigid bodies, ceramics, and biological objects of different geometry