CONTROL OF ROBOTIC GRIPPING BY DETECTION OF ACOUSTIC EMISSIONS

CONTROL OF ROBOTIC GRIPPING BY DETECTION OF ACOUSTIC EMISSIONS

A robotic gripper carries piezoelectric sensors on its gripping surfaces to detect acoustic noise for control of the gripping force applied to a grasped object. The applied force passes through the piezoelectric sensors and the sensors are closely acoustically coupled to the gripping interface to de...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: SCHOLAERT, HUGH S. B, UFFEN, DONALD R
Format: Patent
Sprache:eng ; fre
Schlagworte:
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Beschreibung
Zusammenfassung:A robotic gripper carries piezoelectric sensors on its gripping surfaces to detect acoustic noise for control of the gripping force applied to a grasped object. The applied force passes through the piezoelectric sensors and the sensors are closely acoustically coupled to the gripping interface to detect acoustic noise. The gripping force is increased when detected acoustic emissions indicate that slip is imminent.