Autonomous grasping operations in dynamical environments are key elements of solutions for Factory-of-the-Future scenarios. The manipulator has to cope with a broad variety of objects with different shapes, materials and uncertain poses but at the same time it should provide reliable grasping and placement operations. Within this context, tactile sensors mounted directly on the grippers are a promising solution for monitoring the grasping process. They operate independently from light or line of sight configurations, thus offer a new object detection modality,besides optical-based systems. We receive an imprint of the grasped object with a spatial resolution according to the sensor pattern. However, in case of grippers with a flexible structure and material, this method generates spurious measurements if the gripper is deformed during a manipulation process. This effect disturbs the evaluation of the gripperâs state or object position. In this paper, we develop the specification of a tailored tactil


    Access

    Download


    Export, share and cite



    Title :

    Optimized configuration of a tactile sensor system for flexible grippers


    Contributors:

    Publication date :

    2017-01-01


    Remarks:

    Fraunhofer IFF



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



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

    Fresnillo P. M. / Vasudevan S. / Mohammed W. M. et al. | BASE | 2021

    Free access

    Protective casing of robot grippers

    MAFFEIS GIUSEPPE | European Patent Office | 2016

    Free access

    Analysis of Underactuated Mechanical Grippers

    Montambault, Serge | Online Contents | 2001


    Anisotropically etched silicon fibre-grippers

    Gentemann, R. B. / Voges, E. | British Library Online Contents | 2008


    Downscaling of grippers for micro assembly

    Grutzeck, H. / Kiesewetter, L. | British Library Online Contents | 2002