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.
Optimum grasp force and resistance to slippage
- Authors: Dzitac, Pavel , Mazid, Abdul Md , Ibrahim, Yousef , Choudhury, Tanveer , Appuhamillage, Gayan
- Date: 2017
- Type: Text , Conference paper
- Relation: 2017 IEEE International Conference on Mechatronics (ICM) p. 297-302
- Full Text: false
- Reviewed:
- Description: This paper presents an analysis and experimental results as part of the research into the optimal rate of grasp force application in precision grasping. It also offers the concept of resistance to object rotation in the robot gripper, which in turn contributes to the resistance to object slippage during robotic object manipulation. It is envisaged that this knowledge will be useful to researchers and designers of robotic grippers, especially those for industrial applications.