Publication detail

CONTACT SENSOR FOR ROBOTIC APPLICATIONS - VERIFICATION OF FUNCTIONALITY

Original Title

CONTACT SENSOR FOR ROBOTIC APPLICATIONS - VERIFICATION OF FUNCTIONALITY

Czech Title

CONTACT SENSOR FOR ROBOTIC APPLICATIONS - VERIFICATION OF FUNCTIONALITY

Language

cs

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.

Czech 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.

Documents

BibTex


@inproceedings{BUT24586,
  author="Petr {Krejčí} and Radek {Vlach} and Robert {Grepl}",
  title="CONTACT SENSOR FOR ROBOTIC APPLICATIONS - VERIFICATION OF FUNCTIONALITY",
  annote="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.",
  address="Ústav termomechniky AVČR",
  booktitle="Engineering Mechanics 2006",
  chapter="24586",
  edition="1",
  institution="Ústav termomechniky AVČR",
  year="2006",
  month="may",
  pages="182--183",
  publisher="Ústav termomechniky AVČR",
  type="conference paper"
}