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Optimal sensing requirement for slippage prevention in robotic grasping

机译：机器人抓握中防止滑移的最佳传感要求

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This paper presents a new theoretical development and modelling related to the requirement of the minimum number of sensors necessary for slippage prevention in robotic grasping. A fundamental experimental investigation has been conducted to support the newly developed postulate. A series of basic experiments proved that it is possible to evaluate the contributions of various sensors to slippage prevention and control in robotic grasping. The use of three discrete physical sensors, one for each of the three sensing functions (normal, tangential and slippage), has been proven to be the most reliable combination for slippage prevention in robotic grasping. It was also proven that the best performance from a two-sensor combination can be achieved when normal grasp force and tangential force are both monitored in the grasping process.
机译：本文提出了一种新的理论开发和建模方法，涉及到机器人抓握中防止滑移所需的最小传感器数量的要求。已经进行了基本的实验研究以支持新制定的假设。一系列的基础实验证明，有可能评估各种传感器对机器人抓握中的滑移预防和控制的贡献。事实证明，使用三个分立的物理传感器，三个传感功能（法向，切向和滑移）中的每一个均是一种最佳的可靠组合，可防止机器人抓握中的滑移。还证明了，当在抓握过程中同时监视法向抓握力和切向力时，由两个传感器组合可以实现最佳性能。

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