Force sensing, low-cost manipulator in mobile robotics

verfasst von

Kathrin Nülle, Martin Julian Schulz, Simon Aden, Andrej Dick, Benjamin Munske, Johannes Gaa, Jens Kotlarski, Tobias Ortmaier

Abstract

The ability to sense tactile feedback is important for many robotic grasping and manipulating tasks. However, common force sensors are expensive. Therefore, we investigate various force measuring principles and review existing sensor concepts for mobile robotic applications. The results lead to a concept of a low-cost, two-finger manipulator with force sensing ability using embedded hall sensors in flexible material. The gripper is produced by rapid prototyping. A calibration method is presented. Furthermore, we evaluate and present the idle state, local sensitivity, and material influence of the two-finger manipulator. As a result, it is possible to successfully handle sensitive objects with the sensitive areas of the fingers, although a bias was measures while handling ferromagnetic materials. With a priori knowledge of the objects, this effect can be compensated.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Aufsatz in Konferenzband

Seiten

196-201

Anzahl der Seiten

6

Publikationsdatum

07.06.2017

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Artificial intelligence, Steuerung und Optimierung, Steuerungs- und Systemtechnik

Elektronische Version(en)

https://doi.org/10.1109/iccar.2017.7942686 (Zugang: Geschlossen)