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Open AccessArticle

A Tactile-Based Wire Manipulation System for Manufacturing Applications

by Gianluca Palli 1,† and Salvatore Pirozzi 2,*,†
1
Università di Bologna—DEI, Viale del Risorgimento 2, 40136 Bologna, Italy
2
Università degli Studi della Campania—DI, Via Roma 29, 81031 Aversa (CE), Italy
*
Author to whom correspondence should be addressed.
The authors contributed equally to this work.
Robotics 2019, 8(2), 46; https://doi.org/10.3390/robotics8020046
Received: 9 April 2019 / Revised: 3 June 2019 / Accepted: 10 June 2019 / Published: 12 June 2019
(This article belongs to the Special Issue Advances in Italian Robotics)
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. View Full-Text
Keywords: tactile sensors; manipulation task; assembly robot tactile sensors; manipulation task; assembly robot
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Palli, G.; Pirozzi, S. A Tactile-Based Wire Manipulation System for Manufacturing Applications. Robotics 2019, 8, 46.

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