A method to control grip force and slippage for robotic object grasping and manipulation

Author

Dzitac, Pavel ; Mazid, Abdul Md

Author_Institution

Sch. of Eng. & Built Environ., Central Queensland Univ. Australia, Rockhampton, QLD, Australia

fYear

2012

fDate

3-6 July 2012

Firstpage

116

Lastpage

121

Abstract

A grip force and slippage control for robotic object manipulation, based on mechanical friction is presented. This approach allows a load to be held reliably in the robot gripper without application of excessive forces or allowing uncontrolled slippage. It is a simple, robust and low cost solution, and could be used for applications where low cost integrated grip force and slippage control are needed. This solution could be customized to provide reliable grip force and slippage control for light, medium or heavy load holding applications for a variety of different objects.

Keywords

force control; grippers; manipulators; motion control; heavy load holding applications; light load holding applications; low cost integrated grip force control; low cost solution; mechanical friction; medium load holding applications; reliable grip force; robot gripper; robotic object grasping; robotic object manipulation; robust solution; slippage control; Force; Friction; Grippers; Robots; Rough surfaces; Shafts; Surface roughness; grasp; slippage;

fLanguage

English

Publisher

ieee

Conference_Titel

Control & Automation (MED), 2012 20th Mediterranean Conference on

Conference_Location

Barcelona

Print_ISBN

978-1-4673-2530-1

Electronic_ISBN

978-1-4673-2529-5

Type

conf

DOI

10.1109/MED.2012.6265624

Filename

6265624