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Tactile sensor based intelligent grasping system

conference contribution
posted on 19.02.2020, 00:00 by J Venter, Abdul MazidAbdul Mazid
This paper offers the design and prototype technology of a tactile sensor, based on the principle of surface texture recognition, capable of monitoring slip in robotic grasping. The sensor has been mounted onto a parallel gripper jaw of a robot. The integrated system of tactile sensor, gripper, robot and the system control, in real life experiments, has proven itself capable of slip detection and adjusting adequate grasping force preventing objects from falling down. Several experiments have been carried out with the newly developed system for grasping a number of various object-samples. Success rate of the system for testing in slip detection and adjusting adequate grasping force in experiments was about 85% in average.

History

Start Page

303

End Page

308

Number of Pages

6

Start Date

13/02/2017

Finish Date

15/02/2017

ISBN-13

9781509045396

Location

Churchill, Australia

Publisher

IEEE

Place of Publication

Piscataway, NJ

Peer Reviewed

Yes

Open Access

No

External Author Affiliations

Macquarie University

Era Eligible

Yes

Name of Conference

IEEE International Conference on Mechatronics (ICM 2017)