Advanced Trends in Design of Slip Displacement Sensors for Intelligent Robots

摘要

The paper discusses advanced trends in design of modern tactile sensors and sensor systems for intelligent robots. The main focus is the detection of slip displacement signals corresponding to object slippage between the fingers of the robot’s gripper. It provides information on three approaches for using slip displacement signals, in particular, for the correction of the clamping force, the identification of manipulated object mass and the correction of the robot control algorithm. The study presents the analysis of different methods for the detection of slip displacement signals, as well as new sensor schemes, mathematical models and correction methods. Special attention is paid to investigations of sensors developed by the authors with capacitive, magnetic sensitive elements and automatic adjustment of clamping force. The new research results on the determination of object slippage direction based on multi-component capacity sensors are under consideration when the robot’s gripper collides with the manipulated object.