Optimal sensing requirement for slippage prevention in robotic grasping

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

doi:10.1109/ICIT.2015.7125127

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 proceeding › Conference proceeding contribution › peer-review

5 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 language	English
Title of host publication	2015 IEEE International Conference on Industrial Technology, ICIT 2015
Place of Publication	Piscataway, NJ
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	373-378
Number of pages	6
ISBN (Electronic)	9781479978007, 9781479977994
ISBN (Print)	9781479978014
DOIs	https://doi.org/10.1109/ICIT.2015.7125127
Publication status	Published - 16 Jun 2015
Externally published	Yes
Event	2015 IEEE International Conference on Industrial Technology, ICIT 2015 - Seville, Spain Duration: 17 Mar 2015 → 19 Mar 2015

Other

Other	2015 IEEE International Conference on Industrial Technology, ICIT 2015
Country/Territory	Spain
City	Seville
Period	17/03/15 → 19/03/15

Keywords

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

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10.1109/ICIT.2015.7125127

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title = "Optimal sensing requirement for slippage prevention in robotic grasping",

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.",

keywords = "Iintelligent grasping, industrial robotics, object manipulation, grasping forces, sensors, OBJECT MANIPULATION, TACTILE SENSOR",

author = "Pavel Dzitac and Mazid, {Abdul Md} and Ibrahim, {M. Yousef} and Appuhamillage, {Gayan Kahandawa} and Choudhury, {T. A.}",

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doi = "10.1109/ICIT.2015.7125127",

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pages = "373--378",

booktitle = "2015 IEEE International Conference on Industrial Technology, ICIT 2015",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

note = "2015 IEEE International Conference on Industrial Technology, ICIT 2015 ; Conference date: 17-03-2015 Through 19-03-2015",

}

Dzitac, P, Mazid, AM, Ibrahim, MY, Appuhamillage, GK & Choudhury, TA 2015, Optimal sensing requirement for slippage prevention in robotic grasping. in 2015 IEEE International Conference on Industrial Technology, ICIT 2015., 7125127, Institute of Electrical and Electronics Engineers (IEEE), Piscataway, NJ, pp. 373-378, 2015 IEEE International Conference on Industrial Technology, ICIT 2015, Seville, Spain, 17/03/15. https://doi.org/10.1109/ICIT.2015.7125127

Optimal sensing requirement for slippage prevention in robotic grasping. / Dzitac, Pavel; Mazid, Abdul Md; Ibrahim, M. Yousef et al.
2015 IEEE International Conference on Industrial Technology, ICIT 2015. Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2015. p. 373-378 7125127.

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution › peer-review

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AU - Mazid, Abdul Md

AU - Ibrahim, M. Yousef

AU - Appuhamillage, Gayan Kahandawa

AU - Choudhury, T. A.

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Optimal sensing requirement for slippage prevention in robotic grasping

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