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.
A Tactile-Based Wire Manipulation System for Manufacturing Applications / Palli, Gianluca; Pirozzi, Salvatore. - In: ROBOTICS. - ISSN 2218-6581. - ELETTRONICO. - 8:2(2019), pp. 46.1-46.13. [10.3390/robotics8020046]
A Tactile-Based Wire Manipulation System for Manufacturing Applications
Palli, Gianluca;
2019
Abstract
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.| File | Dimensione | Formato | |
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