Friction-based slippage and tangential force detection in robotic grasping

Pavel Dzitac, Abdul Md Mazid, M. Yousef Ibrahim, T. A. Choudhury, Gayan Kahandawa Appuhamillage

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

1 Citation (Scopus)

Abstract

This paper presents a newly developed parallel gripper prototype capable of sensing grasp force, tangential force and slippage. In this design the gripper itself is used as part of the sensing strategy rather than just being simply a structural support for other sensors. The sensing capability of this gripper is simple in design and reliable. The sensing strategy can be customised to specific applications such as the ability to handle large loads while maintaining its ability to detect slippage as reliably as when handling lighter loads.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
Place of PublicationPiscataway, NJ
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages4875-4879
Number of pages5
ISBN (Electronic)9781479917624
DOIs
Publication statusPublished - 2015
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: 9 Nov 201512 Nov 2015

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period9/11/1512/11/15

Keywords

  • Intelligent grasping
  • slippage detection
  • robotic gripper
  • robotic manipulator
  • tactile sensing

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