Sensation model of an anthropomorphic manipulator for robotic systems

This article describes the task of sensing of an anthropomorphic manipulator for robotic systems in order to control the position of individual robot parts relative to each other. The structure of the proprioception system of the manipulator based on resistive flex sensors is described, as well as the connection diagram of the sensors to an analog-to-digital converter that collects data on the position of individual robot parts. In addition, a number of experiments were conducted to assess the linearity of the sensors output signal. It was found that the flex sensor has a different relationship for positive and negative bend angles. The resistance changes markedly when the sensor is bent (positive values of the bending angle), and the dependence is close to linear. And with negative values of the bending angle, the changes in resistance are insignificant. To sense the manipulator in the form of a human brush based on such a system, it is necessary to use 20 bend sensors.