Real-Time and Autonomous Grasping Operation of Manipulator Based on Tactile Sensor Array

摘要

I217 order to achieve real-time and autonomous grasping operation, tactile sensor array is applied in the paper to achieve real-time force feedback. System of manipulator with tactile sensor array attached at the end-effector is introduced. With the derivation of manipulator dynamics, the autonomous control model is built up to achieve hybrid force/position control in grasping operation. Benefit from multiple contact force information obtained by tactile sensor array, a method is proposed to distinguish whether grasping operation is completed. With this method, grasping operation can be achieved with low contact force and fine stability. Experiments are carried out to verify the significant advantage with tactile sensor array in grasping operation than other kinds of sensors. And efficiency of the real-time and autonomous control model is also verified.