Tactile Sensors for Robot Handling

摘要

First and second generation robots have been used cost effectively in high-volume ‘fixed’ or ‘hard’ automated manufacturing/assembly systems. They are ‘limited-ability’ devices using simple logic elements or primitive sensory feedback. However, in the unstructured environment of most manufacturing plants it is often necessary to locate, identify, orientate and position randomly presented components. Visual systems have been researched and developed to provide a coarse resolution outline of objects. More detailed and precise definition of parts is usually obtained by high resolution tactile sensing arrays. This paper reviews and discusses the current state of the art in tactile sensing.