Abstract
The benefits of tactile image sensors for assembly tasks are outlined. The sensor uses a piezoresistivity of a conductive polymer film(FSR) and contains 16x16 taxels. To limit the processing time a dedicated preprocessing unit is being developed. This should detect and recognize objects, determine the position and orientation of an object and detect slip. The algorithm uses contour scanning, followed by vertex detection. The recognition is performed by matching the lengths between the vertices. During many assembly operations the robot will be force controlled. The implementation of the proposed algorithms will be performed on transputer based hardware.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
