Optimal sensing requirement for slippage prevention in robotic grasping
- Authors: Dzitac, Pavel , Mazid, Abdul Md , Ibrahim, Yousef , Appuhamillage, Gayan , Choudhury, Tanveer
- Date: 2015
- Type: Text , Conference proceedings
- Full Text: false
- Description: 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. © 2015 IEEE.
Friction-based slippage and tangential force detection in robotic grasping
- Authors: Dzitac, Pavel , Mazid, Abdul Md , Ibrahim, Yousef , Choudhury, Tanveer , Appuhamillage, Gayan
- Date: 2015
- Type: Text , Conference paper
- Relation: IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society p. 004871-004874
- Full Text: false
- Reviewed:
- Description: 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.
Friction-based slip detection in robotic grasping
- Authors: Dzitac, Pavel , Mazid, Abdul Md , Ibrahim, Yousef , Appuhamillage, Gayan , Choudhury, Tanveer
- Date: 2015
- Type: Text , Conference paper
- Relation: IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society p. 004871-004874
- Full Text: false
- Reviewed:
- Description: A functional prototype of a friction-based object slippage detection gripper for robotic grasping and manipulation has been designed and built. Object grasping and manipulation experiments have been successfully performed to study the appropriateness of the methodology and the newly built slippage detection gripper. The main advantage of this slippage detection method is that slippage detection is an inherent capability of the sensing element, and not a derived capability like that of sensors based on vibration. This slippage detection and control strategy is simple by design and low in cost, but robust in function. It has the potential to be used in a variety of environments such as high temperatures, low temperatures and underwater. The robustness of the design makes it highly suitable for grasping and manipulating safely a large range of object weights and sizes.
Tactile sensor based intelligent grasping system
- Authors: Venter, Justin , Mazid, Abdul Md
- Date: 2017
- Type: Text , Conference proceedings
- Relation: 2017 IEEE International Conference on Mechatronics (ICM); Churchill, 13-15 Feb; 2017 p. 303-308
- Full Text: false
- Reviewed:
- Description: This paper offers the design and prototype technology of a tactile sensor, based on the principle of surface texture recognition, capable of monitoring slip in robotic grasping. The sensor has been mounted onto a parallel gripper jaw of a robot. The integrated system of tactile sensor, gripper, robot and the system control, in real life experiments, has proven itself capable of slip detection and adjusting adequate grasping force preventing objects from falling down. Several experiments have been carried out with the newly developed system for grasping a number of various object-samples. Success rate of the system for testing in slip detection and adjusting adequate grasping force in experiments was about 85% in average.