Detection of Contact and Slip in Robot Grippers Using Acoustic Emission

AE를 이용한 로봇그립퍼에서 접촉과 미끄러짐 감시

The feasibility of using AE for detecting contact and slip between a workpiece and an end effector has been tested. Specifically, the relationship between the contact and slip motion and the characteristics of the AE signal is theoretically and experimentally investigated. The experimental results manifest that the high sensitivity of AE signal to the contact and slip makes it a good alternative as a robot tactile sensor.