التفاصيل البيبلوغرافية
| العنوان: |
U-TAG: Electromagnetic Wireless Sensing System for Robotic Hand Pre-Grasping |
| المؤلفون: |
Armin Gharibi, Filippo Costa, Simone Genovesi |
| المصدر: |
Sensors, Vol 24, Iss 16, p 5340 (2024) |
| بيانات النشر: |
MDPI AG, 2024. |
| سنة النشر: |
2024 |
| المجموعة: |
LCC:Chemical technology |
| مصطلحات موضوعية: |
robot grasping, pre-touch sensing, RF sensors, passive tags, printed tags, Chemical technology, TP1-1185 |
| الوصف: |
In order to perform complex manipulation and grasp tasks, robotic hands require sensors that can handle increasingly demanding functionality and degrees of freedom. This research paper proposes a radiofrequency sensor that uses a wireless connection between a probe and a tag. A compact and low-profile antenna is mounted on the hand and functions as a probe to read a printed passive resonator on the plastic object being targeted, operating within a pre-touch sensing range. The grasping strategy consists of four stages that involve planar alignment in up-to-down and left-to-right directions between the probe and tag, the search for an appropriate distance from the object, and rotational (angular) alignment. The real and imaginary components of the probe-input impedance are analyzed for different orientation strategies and positioning between the resonator on the object and the probe. These data are used to deduce the orientation of the hand relative to the target object and to determine the optimal position for grasping. |
| نوع الوثيقة: |
article |
| وصف الملف: |
electronic resource |
| اللغة: |
English |
| تدمد: |
1424-8220 |
| Relation: |
https://www.mdpi.com/1424-8220/24/16/5340; https://doaj.org/toc/1424-8220 |
| DOI: |
10.3390/s24165340 |
| URL الوصول: |
https://doaj.org/article/2321249aba8647749e9b5b2916994486 |
| رقم الانضمام: |
edsdoj.2321249aba8647749e9b5b2916994486 |
| قاعدة البيانات: |
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