Study of Force Sensor Using Quartz Resonators and Grasp Control and Recognizing Shape of Object by Hand with the Sensor
Grant-in-Aid for Scientific Research (C)
|Allocation Type||Single-year Grants|
|Research Institution||Osaka Institute of Technology|
MURAOKA Shigenobu Faculty of Engineering, Full-Time Lecturer, 工学部, 講師 (40097994)
|Project Period (FY)
1998 – 2000
Completed(Fiscal Year 2000)
|Budget Amount *help
¥3,000,000 (Direct Cost : ¥3,000,000)
Fiscal Year 2000 : ¥900,000 (Direct Cost : ¥900,000)
Fiscal Year 1999 : ¥500,000 (Direct Cost : ¥500,000)
Fiscal Year 1998 : ¥1,600,000 (Direct Cost : ¥1,600,000)
|Keywords||Quartz Resonator / Grasp Sensor / Slip Sensor / Recognizing Shape of Object / Active Sensing / アクディブセンシング|
Many force sensors used in robots utilize strain gauges. These force sensors are readily affected by electrical noise, and often require amplifiers, filters and A-D converters because their output is analogue and of a low level. However, a force sensor using quartz resonators is insensitive to electrical noise because its output is a frequency. The output frequency can easily be converted into a digital signal through a frequency counter. In addition, the output of the frequency counter can be directly connected to a computer without an A-D converter. The force sensor also has quick response, high sensitivity and high resolution. Furthermore, since the frequency of a quartz resonator is generally much higher than the frequency of environmental noise, the sensor can have a wide bandwidth even when use with filters. Therefore, it could be used in an environment with a noisy background and in cases requiring a quick response.
The next studies were cared out.
(1) Mechanical strength of
quartz resonators mounted in a robot finger was examined experimentally to static and impulsive forces. It was confirmed that the quartz resonator could used as a robot sensor.
(2) It was confirmed that force sensitivity of a quartz resonator is constant to an oscillatory force of up to 2 kHz at least.
(3) Slip could be detected by the force sensor using quartz resonators.
(4) On the basis of the aforementioned, a grasp force sensor incorporating three pairs of quartz resonators was made on an experimental basis.
(1) The grasp force sensor incorporating four pairs of quartz resonators mounted in a robot finger was made.
(2) The shape of an object could be detected by the grasp force sensor incorporating four pairs of quartz resonators
(3) Slip direction could be detected by the force sensor using quartz resonators
(1) The shape of an object can be detected and by the grasp force sensor with four pairs of quartz resonators.
(2) Results of the research project were reported at home and abroad. Less
Research Output (20results)