Authors:
Pavel Dzitac
1
;
Abdul Md Mazid
2
;
Guy Littlefair
1
and
Ashwin Polishetty
1
Affiliations:
1
Deakin University, Australia
;
2
Macquarie University, Australia
Keyword(s):
Robotic Grasping, Slippage Sensing, Tangential Force Sensing, Slippage Detection, Slippage Prevention, Incipient Slippage, Grasp Force Estimation, Grasp Force Control.
Related
Ontology
Subjects/Areas/Topics:
Force and Tactile Sensors
;
Industrial Automation and Robotics
;
Industrial Engineering
;
Informatics in Control, Automation and Robotics
;
Mechatronics Systems
;
Robot Design, Development and Control
;
Robotics and Automation
;
Sensors Fusion
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
This paper presents experimental results obtained using a friction-based slippage and tangential force sensing device that has been developed for the purpose of reliable object slippage prevention during robotic manipulation. The experimental results obtained demonstrate that the developed slippage sensing strategy is rugged and reliable even in its current “rough prototype” state of development. This work has the potential to yield a low cost and highly customisable slippage and tangential force sensing device for a variety of robotic object grasping and manipulation applications. It is envisaged that the work presented here will be beneficial to researchers in the area of object slippage prevention.