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

Pavel Dzitac*, Abdul Md Mazid

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contribution

8 Citations (Scopus)

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.

Original languageEnglish
Title of host publication2012 20th Mediterranean Conference on Control and Automation (MED)
Subtitle of host publicationMED 2012 : conference proceedings
EditorsB. Morcego, F. Nejjari, R. Pérez, J. Quevedo, R. Sarrate, S. Tornil
Place of PublicationPiscataway, NJ
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages116-121
Number of pages6
ISBN (Electronic)9781467325318, 9781467325295
ISBN (Print)9781467325301
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Barcelona, Spain
Duration: 3 Jul 20126 Jul 2012

Other

Other2012 20th Mediterranean Conference on Control and Automation, MED 2012
CountrySpain
CityBarcelona
Period3/07/126/07/12

Keywords

  • slippage
  • grasp

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