<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>This paper presents an analysis result of grasp-move-and-twist motions of robotic hands equipped with optical three-axis tactile sensor to evaluate performance of a new control algorithm based on tactile slippage sensation. The optical three-axis tactile sensor is capable of defining normal and shear forces simultaneously. The proposed algorithm consists of robot arm and hand controls based on parameters of normal and shear force, and slippage detection. To improve performance during grasp, move and twist motions, we present analysis of slippage direction and classify the control algorithm in two phases: grasp-move-release and grasp-twist. We present detailed explanation of the control algorithm based on the existing robot arm control system. The experiment is conducted using a bottle cap, and the analysis results show that the slippage control parameters enhanced performance of grasp control in simultaneous robot tasks. Experimental results revealed good performance of the proposed control algorithm to accomplish the proposed grasp-move-and-twist motions.</p>
</abstract>

This paper presents an analysis result of grasp-move-and-twist motions of robotic hands equipped with optical three-axis tactile sensor to evaluate performance of a new control algorithm based on tactile slippage sensation. The optical three-axis tactile sensor is capable of defining normal and shear forces simultaneously. The proposed algorithm consists of robot arm and hand controls based on parameters of normal and shear force, and slippage detection. To improve performance during grasp, move and twist motions, we present analysis of slippage direction and classify the control algorithm in two phases: grasp-move-release and grasp-twist. We present detailed explanation of the control algorithm based on the existing robot arm control system. The experiment is conducted using a bottle cap, and the analysis results show that the slippage control parameters enhanced performance of grasp control in simultaneous robot tasks. Experimental results revealed good performance of the proposed control algorithm to accomplish the proposed grasp-move-and-twist motions.

Analysis of Tactile Slippage Control Algorithm for Robotic Hand Performing Grasp-Move-Twist Motions

International Journal on Smart Sensing and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

This paper presents an analysis result of grasp-move-and-twist motions of robotic hands equipped with optical three-axis tactile sensor to evaluate performance...

Analysis of Tactile Slippage Control Algorithm for Robotic Hand Performing Grasp-Move-Twist Motions

Published Online: Dec 13, 2017

Page range: 359 - 375

DOI: https://doi.org/10.21307/ijssis-2017-397

Keywords
Tactile sensor, robot hand, tactile slippage sensation, slippage detection, control algorithm, grasp-move-twist motion, normal and shear force, slippage measurement

© 2010 Hanafiah Yussof et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Analysis of Tactile Slippage Control Algorithm for Robotic Hand Performing Grasp-Move-Twist Motions

Published Online: Dec 13, 2017

Page range: 359 - 375

DOI: https://doi.org/10.21307/ijssis-2017-397

KeywordsTactile sensor, robot hand, tactile slippage sensation, slippage detection, control algorithm, grasp-move-twist motion, normal and shear force, slippage measurement

© 2010 Hanafiah Yussof et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Keywords
Tactile sensor, robot hand, tactile slippage sensation, slippage detection, control algorithm, grasp-move-twist motion, normal and shear force, slippage measurement