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Optimized configuration of a tactile sensor system for flexible grippers

: Zug, Sebastian; Müller, Veit; Seidel, Martin; Krenckel, Pascal

Postprint urn:nbn:de:0011-n-5072870 (6.7 MByte PDF)
MD5 Fingerprint: 66bcdd7158e6a0478ea9d4041c209785
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Erstellt am: 16.11.2018

Institute of Electrical and Electronics Engineers -IEEE-:
ETFA 2017, 22nd IEEE International Conference on Emerging Technologies and Factory Automation : 12-15 September 2017, Limassol, Cyprus
Piscataway, NJ: IEEE, 2017
ISBN: 978-1-5090-6505-9
ISBN: 978-1-5090-6504-2
ISBN: 978-1-5090-6506-6
International Conference on Emerging Technologies and Factory Automation (ETFA) <22, 2017, Limassol/Cyprus>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IFF ()

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