Abstract
Generally, robot gripper is the tool to enhancing the efficiency and ability of grasping task of robot manipulator. The interaction between the object and the grasping finger is the main target of robotic gripper design stage. For this research, robot gripper is then proposed as the new method of robot gripper force control using real-time estimate force feedback signal in order to achieve higher performance of grasping objects. Robot gripper kinematics is also analyzed and adjusted to more practical development. The object manipulation is also identifiable using recursive least square estimation technique of both hard and soft objects during grasping. Force controller of robot gripper is obtained using real-time estimate force feedback signal by the recursive least square method. Comparison of proportional–integral–derivative controller gains is tuned with different force feedback signals, normal force feedback, and estimate force feedback during grasping hard and soft objects validated by experiment. The results of design and development are illustrated by simulation and experimental methods. In addition, due to the limitation of electromagnetic interference, signals will not affect other instrumentations with restricted working condition. The range of gripper motion is detected by applied visible light signal of light-emitting diode and photodiode as limit sensors.
Highlights
Applications of robotics and automations for industrial evolution have been increasing rapidly
Results of grasping hard and soft objects with normal force feedback are illustrated in Figures 14 and 15
Results of grasping hard and soft objects with real-time estimate force feedback using the Recursive least square (RLS) method are illustrated in Figures 16 and 17
Summary
Applications of robotics and automations for industrial evolution have been increasing rapidly. For highly dexterous automation manufacturing system, all operational tasks such as picking, placing, loading, and unloading for a material transfer line system are operated by automatic machine or robot without human interaction. Research on robot gripper design is currently being undergone in order to achieve the higher degree of fidelity and dexterity of the manufacturing process. The current robot gripper research works on design and development are described below. Parallel proportional and integral (PI) force controllers are applied to predict the contact force for robotic manipulation of deformable objects. Grip force and slippage controller for robotic object manipulation based on mechanical friction model are presented.. Grip force and slippage controller for robotic object manipulation based on mechanical friction model are presented.4,5 These approaches allowed a load to be held without excessive force for a variety of weighting objects The efficacy of those parallel (PI) force controllers was demonstrated by simulations. In other views, grip force and slippage controller for robotic object manipulation based on mechanical friction model are presented. These approaches allowed a load to be held without excessive force for a variety of weighting objects
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