Determination of the Instantaneous Initial Contact Point on a Parallel Gripper Using a Multi Input Fuzzy Rules Emulated Network Controller with Feedback from Ultrasonic and Force Sensors

Navarro, Cesar; Treesatayapun, Chidentree; Baltazar, Arturo

doi:10.1007/978-3-642-37807-2_23

Cited by 6 publications

(2 citation statements)

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“…a mathematical contact model is not necessary to achieve force stability, but it is useful in order to understand the contact behavior. Besides, heuristic controls can be used for monitoring the contact conditioning by analyzing the control adaptation parameters or incorporating sensors such as ultrasonic transducers [6], [7]. The problem of mechanical contact of two elastic bodies has been of great interest to the scientific community.…”

Section: Introductionmentioning

confidence: 99%

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Determination of Contact Evolution on a Soft Hemispherical Probe Using Ultrasound

2015

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In the area of robotic sensing, determination of parameters of a solid object, such as contact area, pressure distribution, or deformation, is an important step for the sensing and manipulation of an object with an unknown mechanical behavior. In this paper, a soft contact probe based on ultrasound is developed using a commercial elastomer. The emphasis is placed on the study of the contact mechanics of the probe. The probe is equipped with an ultrasonic sensor and then implemented in a 3 degrees of freedom manipulator robotic system. The correlation between the normal contact force and the ultrasonic signal reflected from the interface between the soft probe and the object is precisely studied. Experimental results are presented for loading and unloading cycles of the soft contact probe against a flat surface. Tests are performed on aluminum, elastomer, and plasticine test samples. It is shown that the probe can potentially be used as an end effector of a robotic system which will use the recorded ultrasonic signal as the feedback to a force control algorithm.Index Terms-Soft contact, ultrasonic propagation, sensor force, contact mechanics. 1530-437X

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Section: Introductionmentioning

confidence: 99%

“…[6] and [7] introduce an adaptive controller for a class of unknown nonlinear discrete-time systems based on multi-input fuzzy rules emulated networks. This is a control scheme with if-then rules based on human knowledge; the scheme was tested during and after a collision of a force sensor with a rigid object.…”

Section: Introductionmentioning

confidence: 99%