Title :
Slip displacement sensors for intelligent robots: Solutions and models
Author :
Kondratenko, Yuriy P. ; Klymenko, Leonid P. ; Kondratenko, Volodymyr Y. ; Kondratenko, Galyna V. ; Shvets, Eduard A.
Author_Institution :
Petro Mohyla Black Sea State Univ., Mykolaiv, Ukraine
Abstract :
This paper discusses the design of modern tactile sensor systems for intelligent and adaptive robots. It provides information on three approaches for using slip displacement signals (for correction of claiming force, for identification of manipulated object mass and for correction of robot control algorithm). The study presents the analysis of different methods for slip displacement signals detection, as well as new sensors schemes, mathematical models and correction methods. Special attention is paid to investigations of developed by authors sensors with the capacity, magnetic sensitive elements and with automatic adjustment of claiming force.
Keywords :
intelligent robots; sensors; signal detection; adaptive robots; claiming force automatic adjustment; correction methods; intelligent robots; magnetic sensitive elements; mathematical models; sensor schemes; slip displacement sensors; slip displacement signals detection; tactile sensor systems; Force; Grippers; Magnetic flux; Magnetic sensors; Robot sensing systems; adaptive gripper; control´ models; intelligent robot; slip sensor;
Conference_Titel :
Intelligent Data Acquisition and Advanced Computing Systems (IDAACS), 2013 IEEE 7th International Conference on
Conference_Location :
Berlin
Print_ISBN :
978-1-4799-1426-5
DOI :
10.1109/IDAACS.2013.6663050