Abstract
The development of an experimental tactile sensor system fitted on a robot work-table is analyzed in this paper. In the first stage of this research a 16 × 16 piezoresistive sensor was used, attached on the work-table of an ASEA IRB-2000 robot. The keypoint of the above design is that the sensor is not used just to obtain texture information, as it is happens when it is fitted on the gripper, but also to obtain tactile data from the object nonvisible base-surface and finally the object weight. The experimental system is designed so as to allow variation in the design parameters to determine the best set of parameter values for optimal performance of the sensor. Experiments carried out show the operability of the above system and, furthermore, the advantages using this sensor topology.
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