A novel tactile sensor torch system for robot manipulator and active object edge tracking

Kitti Suwanratchatamanee, Mitsuharu Matsumoto, Shuji Hashimoto

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    5 Citations (Scopus)

    Abstract

    This paper presents a tactile sensor torch system for robot manipulator and an active sensing technique to realize a 3-D object edge tracking with experimental results. The tactile sensor torch implemented on the robot hand consists of two automatic swap functions. One is tactile sensing for object edge detection with three thin sheets of force sensitive resistors arranged triangularly. Another is a simulated welding torch with moving mechanisms. One potential application of the proposed tactile sensor torch is a hand pose control for searching the object edge automatically. Another is a 3-D object edge tracing. The proposed techniques can be employed in industrial processes such as welding and inspection to eliminate manual teaching procedures. In these applications, information about the object shape or orientation is not required in advance.

    Original languageEnglish
    Title of host publicationProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
    Pages2617-2622
    Number of pages6
    DOIs
    Publication statusPublished - 2008
    Event34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 - Orlando, FL
    Duration: 2008 Nov 102008 Nov 13

    Other

    Other34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
    CityOrlando, FL
    Period08/11/1008/11/13

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    ASJC Scopus subject areas

    • Electrical and Electronic Engineering

    Cite this

    Suwanratchatamanee, K., Matsumoto, M., & Hashimoto, S. (2008). A novel tactile sensor torch system for robot manipulator and active object edge tracking. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 (pp. 2617-2622). [4758370] https://doi.org/10.1109/IECON.2008.4758370