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Proceedings Paper

An Integrated Smart Tactile Sensor For 2-Axis Robot Grippers
Author(s): A. J. Harris; C. R. Allen; W. Glass; A. Shepherd; L. Cooper; S. Moss
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Paper Abstract

A smart rotational tactile sensor was designed and developed for use with a 2-axis robot gripper. The structure and performance of the tactile sensor/gripper is described. The tactile sensor forms one pad of the gripper and is free to rotate by virtue of using an optical technique for recording the tactile images. This arrangement permits monitoring of the workpiece position, orientation and possibly slippage when the workpiece is being rotated by the gripper pads. The application of a smart photodiode array and the method of SHADOWing to the processing of the tactile images is also considered.

Paper Details

Date Published: 19 February 1988
PDF: 7 pages
Proc. SPIE 0848, Intelligent Robots and Computer Vision VI, (19 February 1988); doi: 10.1117/12.942733
Show Author Affiliations
A. J. Harris, The University of Newcastle upon Tyne (England)
C. R. Allen, The University of Newcastle upon Tyne (England)
W. Glass, Fraunhofer-Institut fur Produktionstechnik und Automatisierung (Germany)
A. Shepherd, The University of Newcastle upon Tyne (England)
L. Cooper, The University of Newcastle upon Tyne (England)
S. Moss, The University of Newcastle upon Tyne (England)


Published in SPIE Proceedings Vol. 0848:
Intelligent Robots and Computer Vision VI
David P. Casasent; Ernest L. Hall, Editor(s)

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