DocumentCode :
975626
Title :
A tactile sensor system for universal joint sections of manipulators
Author :
Yamada, Yoji ; Shin, Kazuhisa ; Tsuchida, Nuio ; Komai, Mataji
Author_Institution :
Dept. of Inf. & Control Eng., Toyota Technol. Inst., Nagoya, Japan
Volume :
9
Issue :
4
fYear :
1993
fDate :
8/1/1993 12:00:00 AM
Firstpage :
512
Lastpage :
517
Abstract :
It is very difficult to place tactile sensors around revolute joints of manipulators, since those joints and surrounding surfaces are not stationary and thus they remain insensitive to contact with obstacles. This interferes with the introduction of sensors for collision avoidance control in manipulators. This paper deals with a tactile sensor system for universal joint sections of manipulators in order to detect collisions with obstacles. Its unique characteristic is the ability to detect, in one sampling period, the positions of more than one collision despite having only one signal line. It is achieved by making use of the resonance phenomenon of the sensor circuit, and all sensor elements can be distinguished from one another by frequency division. The structure of the sensor and the method to detect the label number and position of the sensor elements that are in contact with obstacles are described, followed by analysis of the circuits and experimental results of the sensor system
Keywords :
frequency division multiplexing; robots; tactile sensors; collision avoidance control; frequency division; manipulators; resonance phenomenon; revolute joints; tactile sensor system; universal joint sections; Application software; Computational geometry; Computer graphics; Computer vision; Constraint optimization; Manipulators; Robotics and automation; Robots; Spline; Tactile sensors;
fLanguage :
English
Journal_Title :
Robotics and Automation, IEEE Transactions on
Publisher :
ieee
ISSN :
1042-296X
Type :
jour
DOI :
10.1109/70.246064
Filename :
246064
Link To Document :
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