Abstract
In this paper, some results concerning the detection and control of the relative motion (slippage) of two bodies in contact are presented. The main motivation of this research can be found in advanced manipulation with robotic systems, in which, depending on the particular task to be executed, it might be desirable either to avoid or to exploit the slippage of the manipulated object. The main contribution of this paper is that, besides the linear Coulomb friction effect, the rotational case is also addressed and, therefore, both translational and rotational motions are taken into account. This result is achieved by using an integrated sensor constituted by a force/torque and a tactile sensor. Experimental results are presented considering both the detection of the slippage and its subsequent control.
Published Version
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