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  1. A500 情報学部/情報学研究科・情報文化学部・情報科学研究科
  2. A500a 雑誌掲載論文
  3. 学術雑誌

Sensing characteristics of an optical three-axis tactile sensor under combined loading

http://hdl.handle.net/2237/10276
2eeb0d3b-5c48-49af-a5a1-17a9c1e0523b
名前 / ファイル ライセンス アクション
Ohka_Masahiro_Sensing_characteristics_of_an_optical_three_axis_2004.pdf Ohka_Masahiro_Sensing_characteristics_of_an_optical_three_axis_2004.pdf (470.9 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2008-07-24
タイトル
タイトル Sensing characteristics of an optical three-axis tactile sensor under combined loading
著者 Ohka, Masahiro

× Ohka, Masahiro

WEKO 23940

Ohka, Masahiro

Search repository
Mitsuya, Yasunaga

× Mitsuya, Yasunaga

WEKO 23941

Mitsuya, Yasunaga

Search repository
Matsunaga, Yasuaki

× Matsunaga, Yasuaki

WEKO 23942

Matsunaga, Yasuaki

Search repository
Takeuchi, Shuichi

× Takeuchi, Shuichi

WEKO 23943

Takeuchi, Shuichi

Search repository
権利
権利情報 Cambridge University Press
キーワード
主題Scheme Other
主題 Tactile sensor
キーワード
主題Scheme Other
主題 Optical measurement
キーワード
主題Scheme Other
主題 Three-axis cell
キーワード
主題Scheme Other
主題 Combined loading
キーワード
主題Scheme Other
主題 Surface condition
抄録
内容記述 This paper describes precision enhancement of an optical three-axis tactile sensor capable of detecting both normal force and tangential force. The sensor's single cell consists of a columnar feeler and 2-by-2 conical feelers. We have derived equations to precisely estimate the three-axis force from the area-sum and area-difference of the conical feelers’contact areas by taking into account wrench-length shrinkage caused by a vertical force. To evaluate the equations and determine constants included in the equations, we performed a series of calibration experiments using a manipulator-mounted tactile sensor and a combined load-testing machine. Subsequently. to evaluate the tactile sensor's practicality. it was mounted on the end of a robotic manipulator which rubbed flat specimens such as brass plates with step-heights of δ=0.05, 0.1, 0.2 mm and a brass plate with no step-height. We showed from the experimental data that the optical three-axis tactile sensor can detect not only the step-heights but also the distribution of the coefficient of friction, and that the sensor can detect fine plate inclination with accuracy to about ±0.4°.
内容記述タイプ Abstract
出版者
出版者 Cambridge University Press
言語
言語 eng
資源タイプ
資源タイプresource http://purl.org/coar/resource_type/c_6501
タイプ journal article
DOI
関連識別子
識別子タイプ DOI
関連識別子 http://dx.doi.org/10.1017/S0263574703005538
ISSN
収録物識別子タイプ ISSN
収録物識別子 0263-5747
書誌情報 Robotica

巻 22, 号 2, p. 213-221, 発行日 2004-03
フォーマット
application/pdf
著者版フラグ
値 publisher
URI
識別子 http://hdl.handle.net/2237/10276
識別子タイプ HDL
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