Abstract
In this paper, a non-contact slippage estimation approach using sensor fusion is proposed. The sensor consists of a charge-coupled device (CCD) camera and structured light emitter. The slip margin is obtained by estimating very small displacement of the grasped object in consecutive frames sequence captured by CCD camera. In experiments, we apply our approach on a slip-margin feedback control gripper system. The three degree of freedom (DOF) gripper consisting of a CCD camera, structured light and force sensor grasps a target object. The incipient slippage occurs on the contact surface between grip fingers and grasping object when the object is pressed and slid, is estimated by proposed approach. Then, the grip force is immediately controlled by a direct feedback of the estimated slip margin. Consequently, the force is adaptively maintained in order to prevent the object from damage. The proposed approach validity is confirmed by results of experiments.
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Acknowledgement
This work was supported by 2014 Special Research Fund of Mechanical Engineering at the University of Ulsan.
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Tran, TT., Ha, C. (2016). Slippage Estimation Using Sensor Fusion. In: Huang, DS., Jo, KH. (eds) Intelligent Computing Theories and Application. ICIC 2016. Lecture Notes in Computer Science(), vol 9772. Springer, Cham. https://doi.org/10.1007/978-3-319-42294-7_42
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DOI: https://doi.org/10.1007/978-3-319-42294-7_42
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