Abstract—Real time identification of materials with nonlinear characteristics is a challenging task. One of the characteristic which is very challenging to model is the stress relaxation behavior, which results in nonlinearity in mechanical behavior of material. A novel method is proposed in this research for real-time identification of materials possessing this behavior during Telemanipulation using Fuzzy logic algorithm. The proposed algorithm is evaluated in an experimental setup consisting a five degrees of freedom serial manipulator (Catalyst-5T) equipped with a strain-gauge sensor with a ball-caster tip. The system is able to detect surface of the material, then perform the identification task by implementing a specified depth of indentation on material and sliding horizontally on surface of the material while maintaining the applied indentation depth. Based on the real time data of stress relaxation time and measured force of indentation as inputs of Fuzzy material identification algorithm, material type is identified in real-time. Output of the system is crisp value which indicates the material type. Proposed algorithm is validated in a designed experimental scenario which consists of three different materials. Experimental results confirm reliability and precision of the proposed algorithm in material type discrimination.
Index Terms—Robotics, strain-gauge sensor, hyperelastic material, fuzzy algorithm, stress relaxation, real time.
The authors are with the Department of Mechanical and Industrial Engineering, Concordia University, Montreal, Canada (e-mail: alir_has@encs.concordia.ca, siamak.arbatani@concordia.ca, dargahi@encs.concordia.ca).
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Cite: Ali Reza Hassan Beiglou, Siamak Arbatani, and Javad Dargahi, "Real-Time Parameter Identification of Hyperelastic Materials in a Closed Loop System Using Tactile Feedback," International Journal of Materials, Mechanics and Manufacturing vol. 2, no. 3, pp. 181-186, 2014.
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