Dependable robot's slip displacement sensors based on capacitive registration elements
Oleksandr Gerasin, Yuriy Panteliyovych Kondratenko, Andrіy Topalov · 2018 IEEE 9th International Conference on Dependable Systems, Services and Technologies (DESSERT) · 2018
A series of dependable sensors for slip signals' registration in an adaptive robot's gripper at a detail's capturing are considered in this paper. The study presents new capacitive slip displacement sensors (SDSs) with a conical configuration of the registration element, which can function under corrosive and harsh industrial conditions. The proposed design solutions generally improve reliability of robot's operation in complicated environments. The obtained universal mathematical model of the proposed capacitive SDSs could significantly help at the designing and choosing of the most appropriate sensor's parameters in industrial conditions fer the best grasping manipulated objects.