操作过程中接触传感器定位能力的比较

Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots Pub Date : 1995-08-05 DOI:10.1109/IROS.1995.526145

J. Son, M. Cutkosky, R. Howe

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引用次数: 53

摘要

本文介绍了触觉阵列与力-扭矩传感在操作过程中定位接触的实验比较。操作任务包括使用平面双指机械手旋转和平移物体。选择一个针和一个盒子作为与圆柱形机器人指尖点线接触的极限情况。力-扭矩接触传感结果存在校准困难、瞬态力和抓握力低等问题。触觉阵列传感不受这些问题的影响，剪切载荷的影响仅在简单的质心算法中可见。结果表明，在实际操作任务中，这两种传感方案都可以在毫米范围内确定接触位置。

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Comparison of contact sensor localization abilities during manipulation

This paper presents an experimental comparison of tactile array versus force-torque sensing for localizing contact during manipulation. The manipulation tasks involved rotating and translating objects using a planar two fingered manipulator. A pin and a box were selected as limiting cases of point and line contact against a cylindrical robot finger tip. Force-torque contact sensing results suffered from difficulties in calibration, transient forces, and low grasp force. Tactile array sensing was immune to these problems, and the effect of shear loading was only noticeable for a simple centroid algorithm. The results show that with care, both of these sensing schemes can determine the contact location within a millimeter during real manipulation tasks.

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Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

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