Publication detail
CONTACT SENSOR FOR ROBOTIC APPLICATIONS – VERIFICATION OF FUNCTIONALITY
KREJČÍ, P. VLACH, R. GREPL, R.
Czech title
CONTACT SENSOR FOR ROBOTIC APPLICATIONS – VERIFICATION OF FUNCTIONALITY
English title
CONTACT SENSOR FOR ROBOTIC APPLICATIONS – VERIFICATION OF FUNCTIONALITY
Type
Paper in proceedings (conference paper)
Language
cs
Original abstract
The information about interaction between robotic parts and surroundings is necessary for intelligent control of robot behavior. The simplest example of such interaction is mechanical contact between working part of robot and surroundings. Than the knowledge of contact characteristic is important for robot control. This mechanical contact could be described by vector of contact force which includes information about force magnitude as well as information about orientation and contact point. The information about contact force vector will allow to predict the geometry of subject which is in the contact with robots parts and modify robots behavior. This kind of sensor can be used for control of robotic hand gripping force as well as for detection of collision between robot and surrounding. This paper deals with design of contact sensor for robotic application and verification of its functionality which was proof by numerical and also by experimental verification.
English abstract
The information about interaction between robotic parts and surroundings is necessary for intelligent control of robot behavior. The simplest example of such interaction is mechanical contact between working part of robot and surroundings. Than the knowledge of contact characteristic is important for robot control. This mechanical contact could be described by vector of contact force which includes information about force magnitude as well as information about orientation and contact point. The information about contact force vector will allow to predict the geometry of subject which is in the contact with robots parts and modify robots behavior. This kind of sensor can be used for control of robotic hand gripping force as well as for detection of collision between robot and surrounding. This paper deals with design of contact sensor for robotic application and verification of its functionality which was proof by numerical and also by experimental verification.
Keywords in English
Contact Sensor
Released
2006-05-15
Publisher
Ústav termomechniky AVČR
Location
Svratka
ISBN
80-86246-27-2
Book
Engineering Mechanics 2006
Pages from–to
182–183
Pages count
2
BIBTEX
@inproceedings{BUT24586,
author="Petr {Krejčí} and Radek {Vlach} and Robert {Grepl}",
title="CONTACT SENSOR FOR ROBOTIC APPLICATIONS - VERIFICATION OF FUNCTIONALITY",
booktitle="Engineering Mechanics 2006",
year="2006",
series="1",
number="1",
pages="182--183",
publisher="Ústav termomechniky AVČR",
address="Svratka",
isbn="80-86246-27-2"
}