To achieve the object to be grasped by robot without shedding

the first thing to do is detecting the slipping signal between the object and the robot. A method for slipping signal detection based on image recognition is presented

use normalized cross-correlation algorithm（ NCC） to match surface image of object real-time collected by the visual sensor

slipping case during collecting images of grasped object robot can be obtained by comparing these two images. Experimental results indicates that this method can accurately detect the slip signal of the object which grasping by robot and the direction and size of slipping

the method possesses advantages of high accuracy

and high sensitivity etc.