Journal of Korea Society of Industrial Information Systems (한국산업정보학회논문지)

Korea Society of Industrial Information Systems (한국산업정보학회)
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Application of Tactile Slippage Sensation Algorithm in Robot Hand Control System

  • Yussof, Hanafiah (Faculty of Mechanical Engineering Universiti Teknologi MARA) ;
  • Jaffar, Ahmed (Faculty of Mechanical Engineering Universiti Teknologi MARA) ;
  • Zahari, Nur Ismarrubie (Department of Mechanical and Manufacturing Engineering FacuIty of Engineering, Universiti Putra Malaysia) ;
  • Ohka, Masahiro (Graduate School of Information Science, Nagoya University)
  • Published : 2012.08.30
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Abstract

This paper presents application of a new tactile slippage sensation algorithm in robot hand control system. The optical three-axis tactile sensor is a type of tactile sensor capable of defining normal and shear forces simultaneously. The tactile sensor is mounted on fingertip of robotic hand. Shear force distribution is used to define slippage sensation in the robot hand system. Based on tactile slippage analysis, a new control algorithm was proposed. To improve performance during object handling motions, analysis of slippage direction is conducted. The control algorithm is classified into two phases: grasp-move-release and grasp-twist motions. Detailed explanations of the control algorithm based on the existing robot arm control system are presented. The experiment is conducted using a bottle cap, and the results reveal good performance of the proposed control algorithm to accomplish the proposed object handling motions.

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References

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