Optimal sensing requirement for slippage prevention in robotic grasping

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

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contributionpeer-review

4 Citations (Scopus)

Abstract

This paper presents a new theoretical development and modelling related to the requirement of the minimum number of sensors necessary for slippage prevention in robotic grasping. A fundamental experimental investigation has been conducted to support the newly developed postulate. A series of basic experiments proved that it is possible to evaluate the contributions of various sensors to slippage prevention and control in robotic grasping. The use of three discrete physical sensors, one for each of the three sensing functions (normal, tangential and slippage), has been proven to be the most reliable combination for slippage prevention in robotic grasping. It was also proven that the best performance from a two-sensor combination can be achieved when normal grasp force and tangential force are both monitored in the grasping process.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Industrial Technology, ICIT 2015
Place of PublicationPiscataway, NJ
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages373-378
Number of pages6
ISBN (Electronic)9781479978007, 9781479977994
ISBN (Print)9781479978014
DOIs
Publication statusPublished - 16 Jun 2015
Externally publishedYes
Event2015 IEEE International Conference on Industrial Technology, ICIT 2015 - Seville, Spain
Duration: 17 Mar 201519 Mar 2015

Other

Other2015 IEEE International Conference on Industrial Technology, ICIT 2015
CountrySpain
CitySeville
Period17/03/1519/03/15

Keywords

  • Iintelligent grasping
  • industrial robotics
  • object manipulation
  • grasping forces
  • sensors
  • OBJECT MANIPULATION
  • TACTILE SENSOR

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