Publication detail

CONTACT SENSOR FOR ROBOTIC APPLICATIONS - VERIFICATION OF FUNCTIONALITY

KREJČÍ, P. VLACH, R. GREPL, R.

Original Title

CONTACT SENSOR FOR ROBOTIC APPLICATIONS - VERIFICATION OF FUNCTIONALITY

English Title

CONTACT SENSOR FOR ROBOTIC APPLICATIONS - VERIFICATION OF FUNCTIONALITY

Type

conference paper

Language

Czech

Original Abstract

The information about interaction between robotic parts and surroundings is necessary for intelligent control of robot behavior. The simplest example of such interaction is mechanical contact between working part of robot and surroundings. Than the knowledge of contact characteristic is important for robot control. This mechanical contact could be described by vector of contact force which includes information about force magnitude as well as information about orientation and contact point. The information about contact force vector will allow to predict the geometry of subject which is in the contact with robots parts and modify robots behavior. This kind of sensor can be used for control of robotic hand gripping force as well as for detection of collision between robot and surrounding. This paper deals with design of contact sensor for robotic application and verification of its functionality which was proof by numerical and also by experimental verification.

English abstract

The information about interaction between robotic parts and surroundings is necessary for intelligent control of robot behavior. The simplest example of such interaction is mechanical contact between working part of robot and surroundings. Than the knowledge of contact characteristic is important for robot control. This mechanical contact could be described by vector of contact force which includes information about force magnitude as well as information about orientation and contact point. The information about contact force vector will allow to predict the geometry of subject which is in the contact with robots parts and modify robots behavior. This kind of sensor can be used for control of robotic hand gripping force as well as for detection of collision between robot and surrounding. This paper deals with design of contact sensor for robotic application and verification of its functionality which was proof by numerical and also by experimental verification.

Key words in English

Contact Sensor

Authors

KREJČÍ, P.; VLACH, R.; GREPL, R.

RIV year

2006

Released

15. 5. 2006

Publisher

Ústav termomechniky AVČR

Location

Svratka

ISBN

80-86246-27-2

Book

Engineering Mechanics 2006

Edition

1

Edition number

1

Pages from

182

Pages to

183

Pages count

2

BibTex

@inproceedings{BUT24586,
  author="Petr {Krejčí} and Radek {Vlach} and Robert {Grepl}",
  title="CONTACT SENSOR FOR ROBOTIC APPLICATIONS - VERIFICATION OF FUNCTIONALITY",
  booktitle="Engineering Mechanics 2006",
  year="2006",
  series="1",
  number="1",
  pages="182--183",
  publisher="Ústav termomechniky AVČR",
  address="Svratka",
  isbn="80-86246-27-2"
}