Engineering Mechanics

International Conference

Proceedings Vol. 12 (2006)


ENGINEERING MECHANICS 2006

NATIONAL CONFERENCE WITH INTERNATIONAL PARTICIPATION
May 15 – 18, 2006, Svratka, Czech Republic
;
Editors: Jiří Náprstek and Cyril Fischer

Copyright © 2006 Institute of Theoretical and Applied Mechanics, Academy of Sciences of the Czech Republic, Prague

ISBN 80-86246-27-2 (printed, Extended Abstracts)
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)

list of papers scientific commitee

Contact sensor for robotic applications --- verification of functionality
P. Krejčí, R. Vlach, R. Grepl
pages 184 - +4p., full text

The information about interaction between robotic parts and surroundings is necessary for intelligent control of robot behavior. The simplest example of such interaction is mechanical contact between working part of robot and surroundings. Than the knowledge of contact characteristic is important for robot control. This mechanical contact could be described by vector of contact force which includes information about force magnitude as well as information about orientation and contact point. The information about contact force vector will allow to predict the geometry of subject which is in the contact with robots parts and modify robots behavior. This kind of sensor can be used for control of robotic hand gripping force as well as for detection of collision between robot and surrounding. This paper deals with design of contact sensor for robotic application and verification of its functionality which was proof by numerical and also by experimental verification.


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Text and facts may be copied and used freely, but credit should be given to these Proceedings.

All papers were reviewed by members of the scientific committee.


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