Surface-tracking of a 5-DOF manipulator equipped with tactile sensors

Jingguo Wang, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

2 Citations (Scopus)

Abstract

Tracking a surface via the end-effector of a manipulator is a tough issue, one not only should implement the position and force control , but also monitor and sense the actual contacting state between the end-effector and the object's surface. In this paper, we present an approach integrating the tactile sensing with force-torque information as the feedback to control the manipulator tracking a surface. Hybrid impedance control method is applied to follow both the position and force trajectories. At the same time, the posture of the end-effector is expected to keep horizontal. With the feedback of tactile sensing data such as contact state, contact area and so on, several strategies of tactile sensing feedback are proposed to be included into the control algorithm. Simulations and two groups of real experiments are made using a 5-DOF manipulator equipped with force/torque and tactile sensors to contact with hard and soft board respectively, and the results are compared and analyzed. The effectiveness of the proposed strategies is validated.
Original languageEnglish
Title of host publication11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
Pages2448-2453
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2010
Externally publishedYes
Event11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010 - Singapore, Singapore
Duration: 7 Dec 201010 Dec 2010

Conference

Conference11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010
Country/TerritorySingapore
CitySingapore
Period7/12/1010/12/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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