光導波形三軸触覚センサ搭載ロボット・マニピュレータによる段差の識別

概要

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A robot makes to be enhanced sensing capability to discriminate surface unevenness of an object by means of equipping an optical three-axis tactile sensor. The single sensor cell of the sensor was comprised of a columnar feeler and 2-by-2 conical feelers. Three-axis force and displacement were estimated from the area-sum and area-difference of contact areas of the conical feelers. To perform surface detection experiments, the optical three-axis tactile sensor was mounted on the wrist of a robotic manipulator having five degrees of freedom. The robotic manipulator rubbed the tactile sensor on three brass plates with step-heights δ=50, 100, 200 μm and a brass plate with no step-height. We proposed the virtual PSD (position detective device) method capable of processing rapidly image data to obtain distributions of three-axis force. Experimental results indicated that the optcal three-axis tactile sensor was able to detect the distribution of the coefficient of friction in spite of existence of step-heights. This tactile sensor was able to detect fine step-heights in the range of from 50 to 200 μm and to detect inclinations of the brass plate in the range of from -0.38 to 0.38°.
1999-09-25