Title :
A tactile sensor system for revolute joints of manipulators
Author :
Yamada, Yoji ; Shin, Kazuhisa ; Tsuchida, Nuio ; Komai, Mataji
Author_Institution :
Inf. & Control Eng., Toyota Technol. Inst., Nagoya, Japan
Abstract :
Deals with a tactile sensor system for revolute joints of manipulators in order to detect contacts with obstacles. It has the ability to detect, in a sampling period, more than one location of contact switches which are turned ON even on a signal line. In the paper, the structure and the principle of the tactile sensor are described, followed by the analysis of the circuit and experimental results of the sensor system
Keywords :
robots; tactile sensors; manipulators; obstacle detection; revolute joints; robots; tactile sensor system; Ceramics; Circuits; Coils; Collision avoidance; Contacts; Resonator filters; Sampling methods; Springs; Switches; Tactile sensors;
Conference_Titel :
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location :
Ibaraki
DOI :
10.1109/IROS.1990.262510
