Gripping an object based on inspection of slip events for a robotic hand model
An effective grasping operation is required in intelligent robotic hands to address the well-known challenge that occurs during the gripping process. One of the most important issues is detecting and addressing the slip situation; otherwise, stable grasps will not be achieved properly. This study in...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
American Scientific Publishers
2017
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| Online Access: | http://psasir.upm.edu.my/id/eprint/61985/1/Gripping%20an%20object%20based%20on%20inspection%20of%20slip%20events%20for%20a%20robotic%20hand%20model.pdf |
| Summary: | An effective grasping operation is required in intelligent robotic hands to address the well-known challenge that occurs during the gripping process. One of the most important issues is detecting and addressing the slip situation; otherwise, stable grasps will not be achieved properly. This study investigated robotic re-gripping operations based on slip event indication. Tactile pressure sensors are utilized to discover the physical interaction between robotic claws and a particular object during the gripping operation. Slip signal detection is executed by implementing a rotary encoder device that was provided in a robotic hand model. The robotic system has attempted to accomplish the re-gripping mission autonomously. Therefore, an automatic feedback control algorithm is developed to perform re-gripping tasks based on the distance at which an object has slipped. Experimental findings present the correlation between the required forces for an object to re-grip securely and the distance at which an object has slipped. This approach was demonstrated as Hooke’s law. |
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