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12 October 2010 Dexterous electron hydraulic servo manipulator based on opto-electronic slip sensor
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It is challenging with the hydraulic servo manipulators to achieve soft grasping. It needs the servo-control on the manipulator's precise position and clamping force. Slip sensor is very important in the process of the manipulator's grasp .The micro-vibration measurement based slip sensor employs the elastomer and the photoelectric apparatus installed in the manipulator to detect the slide at the moment of grasping. Based the vibration, kinetics, illuminance and elasticity deformation theories, the linear relation between the acceleration of the slide and the differential of the output voltage of the photoelectric apparatus can be deduced, which will be used to establish the sliding degree determination mode. Based on hydraulic servo manipulator, a fuzzy controller have been developed and the function of soft grasp have been performed.
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Zhen-dong Shang, Zhigang Hu, and Qinghua Zhang "Dexterous electron hydraulic servo manipulator based on opto-electronic slip sensor", Proc. SPIE 7659, 5th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Smart Structures and Materials in Manufacturing and Testing, 76590R (12 October 2010);

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