Edge tracking using tactile servo

A novel method to perform edge tracking using tactile sensors is presented in this paper. Using the tactile servo scheme, a robot manipulator is driven only by real-time tactile feedback from the array tactile sensors mounted directly on the robot end-effector. Compared with previous approaches, the control scheme presented in this paper is consistent and more efficient. Real-time edge tracking experiments are conducted using an experimental system consisting of a PUMA 260, a single rigid finger and a planar array tactile sensor. Experimental results show satisfactory control speed and accuracy for both straight and curved edge tracking. An example of active tactile sensing of a unknown object using edge tracking is also demonstrated.

Authors

• Ning Chen
• Hong Zhang 0013
• Raymond E. Rink

Keywords

• Servomechanisms
• Tactile sensors
• Robot sensing systems
• Sensor arrays
• Manipulators
• Feedback
• Real time systems
• Fingers
• Planar arrays
• Edge Tracking
• Activity Tracker
• Robot Control
• Tactile Sensor
• Robot Manipulator
• Planar Array
• Tactile Information
• Active Edge
• Motion Primitives
• Degrees Of Freedom
• Object Recognition
• Tracking Error
• Friction Force
• Jacobian Matrix
• Inverse Model
• Robotic Arm
• Elastography
• Contact Force
• Local Contact
• Robot Motion
• Tracking Speed
• Task State
• Robot Joint
• Edges Of Objects
• Local Edge
• Contact Parameters
• Sensitivity Matrix