In this paper, a cyber-physical system composed by a tactile sensor, a robotic gripper and suitable ROS software nodes is proposed. The tactile sensors are shown to be compatible with three different commercial grippers, and the developed ROS nodes for the data acquisition and elaboration enable the implementation of complex tasks such as the grasping and the shape reconstruction of deformable linear objects like cables. The effectiveness of the systems is tested with cable of different diameters and with wiring harnesses composed by several cables grouped together, focusing on the reconstruction of linear and quadratic curves representing the cable shape. Experimental trials are also executed to show the possibility of exploiting the shape reconstruction provided by the proposed system to correct the gripper grasping pose.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Deformable objects grasping and shape detection with tactile fingers and industrial grippers


    Beteiligte:

    Erscheinungsdatum :

    01.01.2021



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Grasping Angle Estimation of Human Forearm with Underactuated Grippers Using Proprioceptive Feedback

    Pastor, Francisco / Gandarias, Juan M. / García-Cerezo, Alfonso J. et al. | TIBKAT | 2020


    Grasping Angle Estimation of Human Forearm with Underactuated Grippers Using Proprioceptive Feedback

    Pastor, Francisco / Gandarias, Juan M. / García-Cerezo, Alfonso J. et al. | Springer Verlag | 2019


    Grasp Planning for Parallel Grippers Considering Flexibility on Its Grasping Surface

    Harada, K. / Tsuji, T. / Nagata, K. et al. | British Library Online Contents | 2012


    Tactile-Based Slip Detection Towards Robot Grasping

    Gong, Yuru / Xing, Yan / Wu, Jianhua et al. | TIBKAT | 2023


    Optimized configuration of a tactile sensor system for flexible grippers

    Zug, Sebastian / Müller, Veit / Seidel, Martin et al. | BASE | 2017

    Freier Zugriff