Development of a smart robotic gripper for shape and vibration control of flexible payloads: theory and experiments

Author

Park, Edward J. ; Li, Gary ; Mills, James K.

Author_Institution

Dept. of Mech. & Ind. Eng., Toronto Univ., Canada

Volume

2

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

2418

Abstract

This paper presents the development and demonstration of a robotic gripper for active control of shape and vibration of thin-walled flexible payloads. The gripper is a smart gripper, which is configured with multiple actuated fingers that are comprised of linear actuators with DC motors, and laser proximity sensors to enable control of both shape and vibration of thin-walled flexible payloads. A detailed description of the proof-of-concept smart gripper is presented, followed by an experimental demonstration using an automotive front quarter body panel.

Keywords

DC motors; dexterous manipulators; electric actuators; grippers; industrial manipulators; linear quadratic Gaussian control; shape control; vibration control; DC motors; LQG control; automotive front quarter body panel; laser proximity sensors; linear actuators; multiple actuated fingers; shape control; smart robotic gripper; thin walled flexible payloads; vibration control; Fingers; Grippers; Hydraulic actuators; Intelligent actuators; Intelligent robots; Payloads; Robot sensing systems; Shape control; Thin wall structures; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1241955

Filename

1241955