Details
| Original language | English |
|---|---|
| Title of host publication | 3rd International Conference on Control, Automation and Robotics, ICCAR 2017 |
| Place of Publication | Nagoya, Japan |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 196-201 |
| Number of pages | 6 |
| ISBN (electronic) | 9781509060870 |
| Publication status | Published - 7 Jun 2017 |
| Event | 3rd International Conference on Control, Automation and Robotics, ICCAR 2017 - Nagoya, Japan Duration: 22 Apr 2017 → 24 Apr 2017 |
Abstract
The ability to sense tactile feedback is important for many robotic grasping and manipulating tasks. However, common force sensors are expensive. Therefore, we investigate various force measuring principles and review existing sensor concepts for mobile robotic applications. The results lead to a concept of a low-cost, two-finger manipulator with force sensing ability using embedded hall sensors in flexible material. The gripper is produced by rapid prototyping. A calibration method is presented. Furthermore, we evaluate and present the idle state, local sensitivity, and material influence of the two-finger manipulator. As a result, it is possible to successfully handle sensitive objects with the sensitive areas of the fingers, although a bias was measures while handling ferromagnetic materials. With a priori knowledge of the objects, this effect can be compensated.
Keywords
- Flexible material, Force sensing, Hall sensor, Low-cost manipulator, Two-finger gripper
ASJC Scopus subject areas
- Computer Science(all)
- Artificial Intelligence
- Mathematics(all)
- Control and Optimization
- Engineering(all)
- Control and Systems Engineering
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3rd International Conference on Control, Automation and Robotics, ICCAR 2017. Nagoya, Japan: Institute of Electrical and Electronics Engineers Inc., 2017. p. 196-201 7942686.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Force sensing, low-cost manipulator in mobile robotics
AU - Nülle, Kathrin
AU - Schulz, Martin Julian
AU - Aden, Simon
AU - Dick, Andrej
AU - Munske, Benjamin
AU - Gaa, Johannes
AU - Kotlarski, Jens
AU - Ortmaier, Tobias
PY - 2017/6/7
Y1 - 2017/6/7
N2 - The ability to sense tactile feedback is important for many robotic grasping and manipulating tasks. However, common force sensors are expensive. Therefore, we investigate various force measuring principles and review existing sensor concepts for mobile robotic applications. The results lead to a concept of a low-cost, two-finger manipulator with force sensing ability using embedded hall sensors in flexible material. The gripper is produced by rapid prototyping. A calibration method is presented. Furthermore, we evaluate and present the idle state, local sensitivity, and material influence of the two-finger manipulator. As a result, it is possible to successfully handle sensitive objects with the sensitive areas of the fingers, although a bias was measures while handling ferromagnetic materials. With a priori knowledge of the objects, this effect can be compensated.
AB - The ability to sense tactile feedback is important for many robotic grasping and manipulating tasks. However, common force sensors are expensive. Therefore, we investigate various force measuring principles and review existing sensor concepts for mobile robotic applications. The results lead to a concept of a low-cost, two-finger manipulator with force sensing ability using embedded hall sensors in flexible material. The gripper is produced by rapid prototyping. A calibration method is presented. Furthermore, we evaluate and present the idle state, local sensitivity, and material influence of the two-finger manipulator. As a result, it is possible to successfully handle sensitive objects with the sensitive areas of the fingers, although a bias was measures while handling ferromagnetic materials. With a priori knowledge of the objects, this effect can be compensated.
KW - Flexible material
KW - Force sensing
KW - Hall sensor
KW - Low-cost manipulator
KW - Two-finger gripper
UR - http://www.scopus.com/inward/record.url?scp=85022345616&partnerID=8YFLogxK
U2 - 10.1109/iccar.2017.7942686
DO - 10.1109/iccar.2017.7942686
M3 - Conference contribution
AN - SCOPUS:85022345616
SP - 196
EP - 201
BT - 3rd International Conference on Control, Automation and Robotics, ICCAR 2017
PB - Institute of Electrical and Electronics Engineers Inc.
CY - Nagoya, Japan
T2 - 3rd International Conference on Control, Automation and Robotics, ICCAR 2017
Y2 - 22 April 2017 through 24 April 2017
ER -