DocumentCode :
2191389
Title :
A tactile sensor system for a three-fingered robot manipulator
Author :
Jockusch, Ján ; Walter, Jörg ; Ritter, Helge
Author_Institution :
Dept. of Comput. Sci., Bielefeld Univ., Germany
Volume :
4
fYear :
1997
fDate :
20-25 Apr 1997
Firstpage :
3080
Abstract :
Tactile sensor systems are an essential prerequisite for the implementation of complex manipulation and exploration tasks using robots. The desire to perform real-time control and pattern recognition with tactile sensors led us to the design of a cost-effective artificial fingertip. At our laboratory two distinct types of sensors are in use: force/position sensors and slippage detectors. We report on first experimental results with a fingertip prototype performing rolling and sliding movements over a flat surface. To facilitate experimentation with tactile sensors, we designed and developed a data acquisition and transportation system that fulfils our demands on bandwidth, flexibility, and cost. This system consists of two hardware components, a configurable multichannel analog signal sampler to acquire sensor data, and an intelligent dual-ported random-access buffer to avoid data transportation bottlenecks
Keywords :
force control; manipulators; piezoelectric transducers; position control; tactile sensors; artificial fingertip; configurable multichannel analog signal sampler; data acquisition; force control; force sensor; intelligent dual-ported random-access buffer; position control; position sensor; robot manipulator; slippage detectors; tactile sensor system; Detectors; Force sensors; Intelligent sensors; Laboratories; Manipulators; Pattern recognition; Prototypes; Robot sensing systems; Tactile sensors; Transportation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
Type :
conf
DOI :
10.1109/ROBOT.1997.606756
Filename :
606756
Link To Document :
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