Snímač vektoru kontaktní síly

Sensor of contact force vector

článek ve sborníku ve WoS nebo Scopus

en

The paper deals with design of contact force vector sensor. The information about interaction between robotic parts and surroundings is necessary for intelligent control of robot behavior. The simplest example of such interaction is mechanical contact between working part of robot and surroundings. Than the knowledge of contact characteristic is important for robot control. This mechanical contact could be described by vector of contact force which includes information about force magnitude as well as information about orientation and contact point. The information about contact force vector will allow to predict the geometry of object which is in the contact with robots parts and modify robots behavior. This kind of sensor can be used for control of robotic hand gripping force as well as for detection of collision between robot and surrounding.

Informace o interakci mezi robotem popřípadě jeho částí a okolím je nezbytná pro inteligentní řízení jeho činností a chování. Nejjednodušším příkladem interakce robota a okolí je mechanický kontakt mezi pracovní částí robota a okolím. Mechanický kontakt lze charakterizovat pomocí vektoru kontaktní síly, který v sobě zahrnuje jak informaci o velikosti kontaktní síly, tak popřípadě informaci o orientaci síly či místě, kde kontakt nastal. V současné době se pro určení charakteru kontaktu s okolím využívají taktilní kontaktní senzory poskytující informace o tom, zda kontakt nastal, popřípadě poskytují informace o velikosti kontaktní síly. Pro sofistikované řízení činností robota je ale nezbytné získat i informaci o vektoru kontaktní síly

The paper deals with design of contact force vector sensor. The information about interaction between robotic parts and surroundings is necessary for intelligent control of robot behavior. The simplest example of such interaction is mechanical contact between working part of robot and surroundings. Than the knowledge of contact characteristic is important for robot control. This mechanical contact could be described by vector of contact force which includes information about force magnitude as well as information about orientation and contact point. The information about contact force vector will allow to predict the geometry of object which is in the contact with robots parts and modify robots behavior. This kind of sensor can be used for control of robotic hand gripping force as well as for detection of collision between robot and surrounding.

Snímač , kontaktní síla, tenzometr

force vector sensor, strain gauges

2007

08.05.2007

IEEE

Kumamoto. Japan

1-4244-1184-X

ICM2007

1–4

4