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Proceedings Paper

Dexterous electron hydraulic servo manipulator based on opto-electronic slip sensor
Author(s): Zhen-dong Shang; Zhigang Hu; Qinghua Zhang
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Paper Abstract

It is challenging with the hydraulic servo manipulators to achieve soft grasping. It needs the servo-control on the manipulator's precise position and clamping force. Slip sensor is very important in the process of the manipulator's grasp .The micro-vibration measurement based slip sensor employs the elastomer and the photoelectric apparatus installed in the manipulator to detect the slide at the moment of grasping. Based the vibration, kinetics, illuminance and elasticity deformation theories, the linear relation between the acceleration of the slide and the differential of the output voltage of the photoelectric apparatus can be deduced, which will be used to establish the sliding degree determination mode. Based on hydraulic servo manipulator, a fuzzy controller have been developed and the function of soft grasp have been performed.

Paper Details

Date Published: 13 October 2010
PDF: 7 pages
Proc. SPIE 7659, 5th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Smart Structures and Materials in Manufacturing and Testing, 76590R (13 October 2010); doi: 10.1117/12.866950
Show Author Affiliations
Zhen-dong Shang, Henan Univ. of Science and Technology (China)
Zhigang Hu, Henan Univ. of Science and Technology (China)
Qinghua Zhang, Luoyang Sunray Technology Co. Ltd. (China)


Published in SPIE Proceedings Vol. 7659:
5th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Smart Structures and Materials in Manufacturing and Testing
Xiangang Luo; Georg von Freymann, Editor(s)

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