Underwater archaeology: available techniques and open problems in fully automated search and inspection

none4CAITI A; G. CASALINO; G. CONTE; S. ZANOLICaiti, A; G., Casalino; Conte, Giuseppe; Zanoli, Silvia Mari

E-field Sensors and Sensor-based Control Strategies for M/M Safe Cooperation

In this paper we describe the use of an artificial sensitive skin, realized by means of E-field sensors, for enhancing safety and man machine cooperation in robotic work-cells. Sensory signal from the sensitive skin are interpreted with the aid of additional information about the robot s motion, so to provide emergency stop signal in case of unintentional proximity or contact between man and robot or, alternatively, in case of intentional contact by the man, to transmit suitable commands. An experimental prototypal installation on an industrial manipulator is described and results of various tests are illustrated