A Study of Tactile Technics for Industrial Robots

Abstract This paper describes the fundamental principle tests on tac-tile sensing material of silicon rubber and their results. The tests concerning static and dynamic characteristics demonstrate that the sili-con rubber used as tactile sensor is feasible within certain pressure range. In order to carry out the study of applied searching technique with the use of the tactile sensing, an accordant convergent algorithm is programmed and installed in a microprocessor to guide random searching for the location and orientation of the cuboid by means of a robot with a touching sensor of micro-silicon rubber tactile point matrix. Moreover, this paper introduces a flexible hand with tactile sensors, which can detect the hand's grasping force on an object and the orientation and degree of deviation of the object grasped, the information of which is feedbacked to the microprocessor to control the flexible hand to perform the experimental research about the active compliant assembly