Abstract
This paper discusses the application of acoustic emission signal analysis as a sensing tool for the detection of contact and slip related motion between a workpiece and an end effector. Some results from past work in this area are first reviewed. Different modes of slip motion (rotational and translational) are then discussed. The ability to distinguish between these slip modes is important since it enables the robot to assess the gripping stability and recover positional control of the workpiece. Experimental results are presented to demonstrate the sensitivity of the detected acoustic emission signal to these different modes of slip motion. The effects of the gripping force on the detected acoustic emission is also discussed.
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