Title :
Touch-driven robot control using a tactile Jacobian
Author :
Chen, Ning N. ; Zhang, Hong ; Rink, Ray E.
Author_Institution :
Dept. of Electr. Eng., Alberta Univ., Edmonton, Alta., Canada
Abstract :
An experimental study on touch-driven robot control, or tactile-servo, is presented in this paper. The tactile servo scheme uses a tactile feature Jacobian matrix to relate the differential change in tactile feature space to that in the robot task space. Tactile Jacobian matrices are constructed through a finite element (FE) model of the tactile sensor. Detailed implementation of the control scheme and experimental results are presented
Keywords :
Jacobian matrices; feature extraction; finite element analysis; manipulators; tactile sensors; differential change; finite element model; robot task space; tactile Jacobian; tactile feature Jacobian matrix; tactile feature space; tactile-servo; touch-driven robot control; Finite element methods; Inverse problems; Jacobian matrices; Motion control; Orbital robotics; Robot control; Robot motion; Robot sensing systems; Servomechanisms; Tactile sensors;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.614400
