CONTACT SENSING FROM FORCE MEASUREMENTS
CONTACT SENSING FROM FORCE MEASUREMENTS
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DOI：
10.1177/027836499301200304
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发表时间：
1993-06-01
影响因子：
9.2
通讯作者：
BROCK, DL
中科院分区：
文献类型：
--
作者：
BICCHI, A;SALISBURY, JK;BROCK, DL
本文讨论接触传感（即解决接触位置、界面处的力以及接触法线的力矩的问题）。这种方法被称为“固有”接触传感，用于使用内力和扭矩测量，它允许实用设备在实际机器人应用中提供简单、相关的接触信息。此类传感器已与机器人手结合使用来识别物体、确定表面摩擦力、检测滑动、增强抓握稳定性、测量物体质量、探测表面、控制碰撞以及用于各种其他有用的任务。本文描述了其操作的理论基础，并为未来的设备设计提供了框架。
This article addresses contact sensing (i.e., the problem of resolving the location of a contact, the force at the interface, and the moment about the contact normals). Called ''intrinsic'' contact sensing for the use of internal force and torque measurements, this method allows for practical devices that provide simple, relevant contact information in practical robotic applications. Such sensors have been used in conjunction with robot hands to identify objects, determine surface friction, detect slip, augment grasp stability, measure object mass, probe surfaces, and control collision and for a variety of other useful tasks. This article describes the theoretical basis for their operation and provides a framework for future device design.