A Tactile-Based Wire Manipulation System for Manufacturing Applications

A Tactile-Based Wire Manipulation System for Manufacturing Applications

This paper presents experimental results developed within the WIRES experiment, whose main objective is the robotized cabling of switchgears. This task is currently executed by human operators; the WIRES Project tackles the development of a suitably designed sensorized end effector for the wire prec...

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Bibliographic Details
Main Authors: Gianluca Palli, Salvatore Pirozzi
Format: Article
Language:English
Published: MDPI AG 2019-06-01
Series:Robotics
Subjects:
tactile sensors
manipulation task
assembly robot
Online Access:https://www.mdpi.com/2218-6581/8/2/46
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spelling doaj-8660e7cc5ee641c0922ed4222ed1fc122020-11-25T02:10:39ZengMDPI AGRobotics2218-65812019-06-01824610.3390/robotics8020046robotics8020046A Tactile-Based Wire Manipulation System for Manufacturing ApplicationsGianluca Palli0Salvatore Pirozzi1Università di Bologna—DEI, Viale del Risorgimento 2, 40136 Bologna, ItalyUniversità degli Studi della Campania—DI, Via Roma 29, 81031 Aversa (CE), ItalyThis paper presents experimental results developed within the WIRES experiment, whose main objective is the robotized cabling of switchgears. This task is currently executed by human operators; the WIRES Project tackles the development of a suitably designed sensorized end effector for the wire precise manipulation. In particular, the developed gripper with tactile sensors are shown and a procedure for the implementation of the insertion task is presented and discussed. Experimental results are reported both for quality of wire shape reconstruction and success rate of insertion task implementation.https://www.mdpi.com/2218-6581/8/2/46tactile sensorsmanipulation taskassembly robot
collection DOAJ
language English
format Article
sources DOAJ
author Gianluca Palli
Salvatore Pirozzi
spellingShingle Gianluca Palli
Salvatore Pirozzi
A Tactile-Based Wire Manipulation System for Manufacturing Applications
Robotics
tactile sensors
manipulation task
assembly robot
author_facet Gianluca Palli
Salvatore Pirozzi
author_sort Gianluca Palli
title A Tactile-Based Wire Manipulation System for Manufacturing Applications
title_short A Tactile-Based Wire Manipulation System for Manufacturing Applications
title_full A Tactile-Based Wire Manipulation System for Manufacturing Applications
title_fullStr A Tactile-Based Wire Manipulation System for Manufacturing Applications
title_full_unstemmed A Tactile-Based Wire Manipulation System for Manufacturing Applications
title_sort tactile-based wire manipulation system for manufacturing applications
publisher MDPI AG
series Robotics
issn 2218-6581
publishDate 2019-06-01
description This paper presents experimental results developed within the WIRES experiment, whose main objective is the robotized cabling of switchgears. This task is currently executed by human operators; the WIRES Project tackles the development of a suitably designed sensorized end effector for the wire precise manipulation. In particular, the developed gripper with tactile sensors are shown and a procedure for the implementation of the insertion task is presented and discussed. Experimental results are reported both for quality of wire shape reconstruction and success rate of insertion task implementation.
topic tactile sensors
manipulation task
assembly robot
url https://www.mdpi.com/2218-6581/8/2/46
work_keys_str_mv AT gianlucapalli atactilebasedwiremanipulationsystemformanufacturingapplications
AT salvatorepirozzi atactilebasedwiremanipulationsystemformanufacturingapplications
AT gianlucapalli tactilebasedwiremanipulationsystemformanufacturingapplications
AT salvatorepirozzi tactilebasedwiremanipulationsystemformanufacturingapplications
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