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Analysis and modeling of the slip signals' registration processes based on sensors with multicomponent sensing elements

This paper is dedicated to the development of sensor registration of object slippage in the adaptive robot's gripper. The structure of the registration element and the multifunctional correction block of the clamping force are described. The functional diagram and sensor hardware implementation are proposed. The device for detection of slip displacement signal simulation is tested during the execution of process operations with manipulation object using software Proteus.