Detecting and preventing slip is a major challenge in robotic hand operation, underpinning the robot's ability to perform safe and reliable grasps. Using the robotic hand design from the authors' earlier work, a sensing and control strategy is proposed here to prevent object slippage. The robotic hand is cable-driven, single-actuated, has five fingers, and is capable of replicating most human hand motions. The slip sensing approach utilizes a piezoelectric vibration sensor, namely, polyvinylidene fluoride (PVDF), which is a flexible, thin, cheap, and highly sensitive material. The power of the filtered PVDF signal is shown to exhibit identifiable signatures during slip, thus providing a suitable slip detection mechanism. Using the PVDF feedback, an integral controller is implemented to prevent the grasped object from falling and ensure a safe, powerful, and reliable grasp. The extension movement of the robotic hand is controlled using a bend sensor, through a proportional-integral (PI) controller. The robotic hand weights 338 gr. The functionality and robustness of the proposed slip-detection sensory system and control logic implementation are evaluated through experiments.
翻译:检测和预防滑动是机器人手操作中的一项重大挑战,它加强了机器人实施安全可靠控制的能力。 使用作者先前工作中的机器人手设计,在此建议了一种感测和控制战略,以防止物体滑落。 机器人手是电缆驱动的,单一活化的,有五根手指,能够复制大多数人类手动。 滑动方法使用了一种电动振动传感器,即聚氯乙烯氟化物(PVDF),这是一种灵活、薄、廉价和高度敏感的材料。 过滤过的PVDF信号的能量显示在滑动期间显示可识别的特征,从而提供一个适当的滑动检测机制。 使用PVDF反馈,实施一个综合控制器,以防止被捕捉的物体跌落,并确保安全、有力和可靠的掌握。 机器人手的扩展是通过一个弯曲传感器,通过一个成比例的固态(PI)控制器来控制。 机器人手重量为338克。 通过实验来评估拟议的滑移感应系统和控制逻辑执行的功能和坚固性。