Auto-grasping algorithm of robot gripper based on pressure sensor measurement
This paper presents an auto grasping algorithm of a proposed robotic gripper. The purpose is to enhance the grasping mechanism of the gripper. Earlier studies have introduced various methods to enhance the grasping mechanism, but most of the works have not looked at the weight measurement method. Th...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Universiti Putra Malaysia Press
2017
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| Online Access: | http://psasir.upm.edu.my/id/eprint/55851/1/14-JTS%28S%29-0128-2016-4thProof.pdf |
| _version_ | 1825931300022779904 |
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| author | Almassri, Ahmed M. M. Wada, Chikamune Wan Hasan, Wan Zuha Ahmad, Siti Anom |
| author_facet | Almassri, Ahmed M. M. Wada, Chikamune Wan Hasan, Wan Zuha Ahmad, Siti Anom |
| author_sort | Almassri, Ahmed M. M. |
| collection | UPM |
| description | This paper presents an auto grasping algorithm of a proposed robotic gripper. The purpose is to enhance the grasping mechanism of the gripper. Earlier studies have introduced various methods to enhance the grasping mechanism, but most of the works have not looked at the weight measurement method. Thus, with this algorithm, the weight of the object is calculated based on modified Wheatstone Bridge Circuit (WBC) which is controlled by programmable interface controller (PIC) method. Having this approach introduces and improves the grasping mechanism through an auto grasping algorithm. Experimental results show that an auto grasping algorithm based on pressure sensor measurements leads to a more precise grasping measurement and consequently enhance the sensitivity measurement as well as accurate movement calibration. Furthermore, several different grasping objects based on the proposed method are examined to demonstrate the performance and robustness of our approach. |
| first_indexed | 2024-03-06T09:24:39Z |
| format | Article |
| id | upm.eprints-55851 |
| institution | Universiti Putra Malaysia |
| language | English |
| last_indexed | 2024-03-06T09:24:39Z |
| publishDate | 2017 |
| publisher | Universiti Putra Malaysia Press |
| record_format | dspace |
| spelling | upm.eprints-558512017-07-05T03:44:54Z http://psasir.upm.edu.my/id/eprint/55851/ Auto-grasping algorithm of robot gripper based on pressure sensor measurement Almassri, Ahmed M. M. Wada, Chikamune Wan Hasan, Wan Zuha Ahmad, Siti Anom This paper presents an auto grasping algorithm of a proposed robotic gripper. The purpose is to enhance the grasping mechanism of the gripper. Earlier studies have introduced various methods to enhance the grasping mechanism, but most of the works have not looked at the weight measurement method. Thus, with this algorithm, the weight of the object is calculated based on modified Wheatstone Bridge Circuit (WBC) which is controlled by programmable interface controller (PIC) method. Having this approach introduces and improves the grasping mechanism through an auto grasping algorithm. Experimental results show that an auto grasping algorithm based on pressure sensor measurements leads to a more precise grasping measurement and consequently enhance the sensitivity measurement as well as accurate movement calibration. Furthermore, several different grasping objects based on the proposed method are examined to demonstrate the performance and robustness of our approach. Universiti Putra Malaysia Press 2017 Article PeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/55851/1/14-JTS%28S%29-0128-2016-4thProof.pdf Almassri, Ahmed M. M. and Wada, Chikamune and Wan Hasan, Wan Zuha and Ahmad, Siti Anom (2017) Auto-grasping algorithm of robot gripper based on pressure sensor measurement. Pertanika Journal of Science & Technology, 25 (spec. Feb.). pp. 113-122. ISSN 0128-7680; ESSN: 2231-8526 http://www.pertanika.upm.edu.my/Pertanika%20PAPERS/JST%20Vol.%2025%20(S)%20Feb.%202017/14-JTS(S)-0128-2016-4thProof.pdf |
| spellingShingle | Almassri, Ahmed M. M. Wada, Chikamune Wan Hasan, Wan Zuha Ahmad, Siti Anom Auto-grasping algorithm of robot gripper based on pressure sensor measurement |
| title | Auto-grasping algorithm of robot gripper based on pressure sensor measurement |
| title_full | Auto-grasping algorithm of robot gripper based on pressure sensor measurement |
| title_fullStr | Auto-grasping algorithm of robot gripper based on pressure sensor measurement |
| title_full_unstemmed | Auto-grasping algorithm of robot gripper based on pressure sensor measurement |
| title_short | Auto-grasping algorithm of robot gripper based on pressure sensor measurement |
| title_sort | auto grasping algorithm of robot gripper based on pressure sensor measurement |
| url | http://psasir.upm.edu.my/id/eprint/55851/1/14-JTS%28S%29-0128-2016-4thProof.pdf |
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