High real-time slippage distinguishing model on slippage sensor

On the basis of photoelectric effect,photoelectric slippage sensor converts the mechanical slippage into electric signal through optical signal in order to detect.The real-time capability of photoelectric slippage sensor has direct relation to the sensor’s slippage distinguishing model.After analysing the typical slippage signals and comparing with the traditional slippage distinguishing model,a new and high real-time model for slippage distinguishing is put forward.That is distinguishing and validating slippage using the ratio of area between the single wave of slippage signal and time axis to the arithmetic product of the maximum of slippage signal and the timing of the wave.From the experiments,it is concluded that when the ratio is less than 25 percent,there is no slippage between the object being grasped and the robot’s hand.