Tactile sensor based intelligent grasping system

摘要

This paper offers the design and prototype technology of a tactile sensor, based on the principle of surface texture recognition, capable of monitoring slip in robotic grasping. The sensor has been mounted onto a parallel gripper jaw of a robot. The integrated system of tactile sensor, gripper, robot and the system control, in real life experiments, has proven itself capable of slip detection and adjusting adequate grasping force preventing objects from falling down. Several experiments have been carried out with the newly developed system for grasping a number of various object-samples. Success rate of the system for testing in slip detection and adjusting adequate grasping force in experiments was about 85% in average.