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

Kitti Suwanratchatamanee; Mitsuharu Matsumoto; Shuji Hashimoto

doi:10.1109/IECON.2008.4758370

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

Kitti Suwanratchatamanee^*, Mitsuharu Matsumoto, Shuji Hashimoto

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (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 language	English
Title of host publication	Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
Pages	2617-2622
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2008.4758370
Publication status	Published - 2008
Event	34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 - Orlando, FL Duration: 2008 Nov 10 → 2008 Nov 13

Other

Other	34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
City	Orlando, FL
Period	08/11/10 → 08/11/13

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.1109/IECON.2008.4758370

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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., 4758370, pp. 2617-2622, 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008, Orlando, FL, 08/11/10. https://doi.org/10.1109/IECON.2008.4758370

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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.",

author = "Kitti Suwanratchatamanee and Mitsuharu Matsumoto and Shuji Hashimoto",

year = "2008",

doi = "10.1109/IECON.2008.4758370",

language = "English",

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AB - 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.

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

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