Proceedings ArticleDOI
Design of servo actuated robotic gripper using force control for range of objects
Jin-Siang Shaw,Vipul Dubey +1 more
- pp 1-6
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TLDR
The experimental results demonstrate that the gripper design in robust and capable of gripping variety of objects and not just for particular purpose.Abstract:
In our research work we designed a robotic gripper for industrial robotic arm which is capable of grasping any rigid as well as delicate objects. Our control system produces an adequate force to grasp any object. In this paper, we designed a gripper mechanism and a controller. Force sensor was fixed at the gripper finger to collect the force values while grasping. We implemented proportional-integral-derivative control for our controller. To prevent slipping of object during grasping we designed Anti-slip algorithm and implemented to our gripper module. The experimental results demonstrate that our gripper design in robust and capable of gripping variety of objects and not just for particular purpose.read more
Citations
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Journal ArticleDOI
Applying a 6-axis Mechanical Arm Combine with Computer Vision to the Research of Object Recognition in Plane Inspection
TL;DR: The study of a robotic arm copied with 3D-printer combines computer vision system with tracking algorithm and the integration of electromechanical for planning to apply it to the operations in various fields is proposed.
Proceedings ArticleDOI
Automatic Pet Food Dispenser by using Internet of Things (IoT)
TL;DR: A feeder to help allocate dry food diet to small pets such as dogs and cats and this machine will be also used for monitor pet’s eating habits to train the pets for scheduled meals.
Proceedings ArticleDOI
Extrinsic Dexterity Through Active Slip Control Using Deep Predictive Models
TL;DR: A Deep Predictive Model that uses tactile sensor information to reason about slip and its future influence on the manipulated object is proposed and used to precisely manipulate objects within a robot end-effector using external perturbations imposed by gravity or acceleration.
Journal ArticleDOI
Automatic classification of moving objects on an unknown speed production line with an eye-in-hand robot manipulator
Jinsiang Shaw,Wen-Lin Chi +1 more
TL;DR: Techniques for tracking and grasping moving objects with an unknown speed on a conveyor using an eyein- hand robot arm are presented, which are useful in a production line for automatic object classification.
Dissertation
Active compliance control strategies for multifingered robot hand
TL;DR: This work lays important foundations for long-term related research, particularly in the field of active compliance control that can be beneficial to human–robot interaction (HRI).
References
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Journal ArticleDOI
Universal robotic gripper based on the jamming of granular material
Eric Brown,Nicholas Rodenberg,John R. Amend,Annan Michael Mozeika,E. Steltz,Mitchell R. Zakin,Hod Lipson,Heinrich M. Jaeger +7 more
TL;DR: It is shown that volume changes of less than 0.5% suffice to grip objects reliably and hold them with forces exceeding many times their weight, and opens up new possibilities for the design of simple, yet highly adaptive systems that excel at fast gripping of complex objects.
Journal ArticleDOI
Modeling and Control of Shape Memory Alloy Actuators
TL;DR: A new model for shape memory alloy (SMA) actuators based on the physics of the process is described and control strategies using the model are developed, showing fast and accurate control of the strain in the SMA actuator.
Journal ArticleDOI
Design and feasibility tests of a flexible gripper based on inflatable rubber pockets
Ho Choi,Muammer Koç +1 more
TL;DR: In this article, a flexible gripper based on the use of compliant materials (i.e., rubber) with pneumatic inflation was designed, analyzed, built and tested, and a simple, single rubber-pocketed flexible grippers was designed and built.
Journal ArticleDOI
Soft composite hinge actuator and application to compliant robotic gripper
TL;DR: In this article, a smart soft composite (SSC) hinge actuator capable of a pure bending motion concentrated on specific sections of the actuator is introduced, which makes use of a shape memory alloy (SMA) wire in a polydimethylsiloxane (PDMS) matrix embedded with segmented rigid components.
Journal ArticleDOI
Theoretical model of the grasp with vacuum gripper
TL;DR: In this article, a mathematical model is proposed for determining the forces of contact between a suction cup and an object, and an example of the motion of an object grasped with a vacuum gripper is reported.