- Title
- Optimal sensing requirement for slippage prevention in robotic grasping
- Creator
- Dzitac, Pavel; Mazid, Abdul Md; Ibrahim, Yousef; Appuhamillage, Gayan; Choudhury, Tanveer
- Date
- 2015
- Type
- Text; Conference proceedings
- Identifier
- http://researchonline.federation.edu.au/vital/access/HandleResolver/1959.17/96436
- Identifier
- vital:10118
- Identifier
-
https://doi.org/10.1109/ICIT.2015.7125127
- 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. © 2015 IEEE.
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Rights
- Copyright © 2015 IEEE
- Rights
- This metadata is freely available under a CCO license
- Subject
- Grasping forces; Intelligent grasping; Industrial robotics; Object manipulation; Sensors; End effectors; Experimental investigations; Prevention and controls; Sensor combinations; Theoretical development; Robotics
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