ANALYSIS OF TACTILE SLIPPAGE CONTROL ALGORITHM FOR ROBOTIC HAND PERFORMING GRASP-MOVE-TWIST MOTIONS

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International Journal on Smart Sensing and Intelligent Systems

Professor Subhas Chandra Mukhopadhyay

Exeley Inc. (New York)

Subject: Computational Science & Engineering , Engineering, Electrical & Electronic

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VOLUME 3 , ISSUE 3 (September 2010) > List of articles

ANALYSIS OF TACTILE SLIPPAGE CONTROL ALGORITHM FOR ROBOTIC HAND PERFORMING GRASP-MOVE-TWIST
MOTIONS

Hanafiah Yussof * / Jiro Wada / Masahiro Ohka

Keywords : Tactile sensor, robot hand, tactile slippage sensation, slippage detection, control algorithm, grasp-move-twist motion, normal and shear force, slippage measurement.

Citation Information : International Journal on Smart Sensing and Intelligent Systems. Volume 3, Issue 3, Pages 359-375, DOI: https://doi.org/10.21307/ijssis-2017-397

License : (CC BY-NC-ND 4.0)

Published Online: 13-December-2017

ARTICLE

ABSTRACT

This paper presents an analysis result of grasp-move-and-twist motions of robotic hands equipped with optical three-axis tactile sensor to evaluate performance of a new control algorithm based on tactile slippage sensation. The optical three-axis tactile sensor is capable of defining normal and shear forces simultaneously. The proposed algorithm consists of robot arm and hand controls based on parameters of normal and shear force, and slippage detection. To improve performance during grasp, move and twist motions, we present analysis of slippage direction and classify the control algorithm in two phases: grasp-move-release and grasp-twist. We present detailed explanation of the control algorithm based on the existing robot arm control system. The experiment is conducted using a bottle cap, and the analysis results show that the slippage control parameters enhanced performance of grasp control in simultaneous robot tasks. Experimental results revealed good performance of the proposed control algorithm to accomplish the proposed grasp-move-and-twist motions.

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REFERENCES

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