Slip Detection of Robot Gripper with Flexible Tactile Sensor

摘要

In this paper, we design a gripping force control system using tactile sensor to prevent slip when gripper tries to grasp and lift an object. We use a flexible tactile sensor for measuring uniplanar pressure on gripper"s finger and develop an algorithm to detect the onset of slip using the sensor output. We also use a flexible pressure sensor to measure the normal force. In addition, various signal processing techniques are used to reduce noise included in the sensor output. A 3-finger gripper is used to grasp and lift up a cylindrical object. The tactile sensor is attached on one of fingers, and sends output signals to detect slip. Whenever the sensor signal is similar to the slip pattern, gripper force is increased. In conclusion, this research shows that slip can be detected using the tactile sensor and we can control gripping force to eliminate slip between gripper and object.