SLIP COMPENSATION OF GRASPED OBJECTS IN ROBOT GRIPPER

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AHMADI HABIB; ESMAEELI HANIEH; FATEH MOHAMAD MEHDI

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Journal: Modares Mechanical Engineering Year:2015 | Volume:15 | Issue:1 Page(s): 151-162

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Information Journal Paper

Title

SLIP COMPENSATION OF GRASPED OBJECTS IN ROBOT GRIPPER

Author(s)

AHMADI HABIB | ESMAEELI HANIEH | FATEH MOHAMAD MEHDI | Issue Writer Certificate

Keywords

SLIP CONTROLQ2

SLIP COMPENSATIONQ2

GRASPINGQ2

OBJECTQ2

ROBOT GRIPPERQ2

Abstract

Grasping in ROBOT GRIPPER is an operation that is inevitably performed by prosthetic hands or industrial robots. Meanwhile, slipping of the grasped OBJECT is considered as an undesirable phenomenon in any kind of GRASPING. Here, the computed torque control is used in order to control slip and also guarantee the desired behavior of the closed loop system. Nevertheless, any acceleration changes of the robot’s joints before completing the response time of the SLIP CONTROLler has a direct effect on the OBJECT position relative to the robot and causes slip phenomenon. Although the applied computed torque controller is suitable for tracking trajectory, the desired trajectory will be altered according to slip occurrence. This paper introduces a method to modify the desired trajectory during GRASPING an OBJECT. The modification is done according to the measured slip. These methods not only control the slip of the grasped OBJECT, but also compensate it. So the OBJECT could be handled and placed in its proper position in the task space. This approach guarantees the safe GRASPING and moving of OBJECTs according to OBJECT position relative to the gripper.

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APA: Copy

AHMADI, HABIB, ESMAEELI, HANIEH, & FATEH, MOHAMAD MEHDI. (2015). SLIP COMPENSATION OF GRASPED OBJECTS IN ROBOT GRIPPER. MODARES MECHANICAL ENGINEERING, 15(1), 151-162. SID. https://sid.ir/paper/179299/en

Vancouver: Copy

AHMADI HABIB, ESMAEELI HANIEH, FATEH MOHAMAD MEHDI. SLIP COMPENSATION OF GRASPED OBJECTS IN ROBOT GRIPPER. MODARES MECHANICAL ENGINEERING[Internet]. 2015;15(1):151-162. Available from: https://sid.ir/paper/179299/en

IEEE: Copy

HABIB AHMADI, HANIEH ESMAEELI, and MOHAMAD MEHDI FATEH, “SLIP COMPENSATION OF GRASPED OBJECTS IN ROBOT GRIPPER,” MODARES MECHANICAL ENGINEERING, vol. 15, no. 1, pp. 151–162, 2015, [Online]. Available: https://sid.ir/paper/179299/en

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