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Vol. 187, Issue 4, April 2015, pp. 29-38

 

Bullet

 

Sensing of Intelligent Robots Based on Applications
of Tactile Slip Displacement Sensors
 

1 Yuriy P. KONDRATENKO, 2 Volodymyr Y. KONDRATENKO, 1 Leonid P. KLYMENKO, 1 Galyna V. KONDRATENKO, 3 Eduard A. SHVETS

1 Petro Mohyla Black Sea State University, 68
th Desantnykiv str. 10, Mykolaiv, 54003, Ukraine
2 University of Colorado Denver, Campus Box 170, PO Box 173364, Denver, CO 80217-3364, USA
3 Admiral Makarov National University of Shipbuilding, Geroiv Stalingrada Av. 9, Mykolaiv, 54025, Ukraine
1 Tel.: +380512400939, fax: +380512500069

1 E-mail: y_kondrat2002@yahoo.com

 

Received: 30 January 2015 /Accepted: 27 March 2015 /Published: 30 April 2015

Digital Sensors and Sensor Sysstems

 

Abstract: This paper discusses the design of modern tactile and slip displacement sensors for information-control systems of intelligent and adaptive robots. It provides information on three approaches for using slip displacement signals (for correction of claiming force, for identification of manipulated object mass and for correction of robot control algorithm). The study presents the analysis of different methods for slip displacement signals detection, as well as new sensors schemes, mathematical models and correction methods. Special attention is paid to investigations of sensors developed by authors with the capacity, magnetic sensitive elements and with automatic adjustment of clamping force. The proposed structure of multi-functional computerized information-control system for intelligent robot is presented.

 

Keywords: Tactile sensor, Slip displacement sensor, Model, Adaptive gripper, Intelligent robot, Control system.

 

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