Abstract-A 3-Finger Adaptive RobotGripper is an advanced robotic research that provides a robotic hand-like capabilities due to its flexibility and versatility. However, the grasping performance has to be analyzed and monitored based on the motor encoder, motor current, and force feedback so that the finger position and grasping force can be effectively controlled. This paper provides an open-loop grasping analysis for a 3-Finger Adaptive Robot Gripper. A series of grasping tests has been conducted to demonstrate the robot capabilities and functionalities. Different stiffness levels of the grasped objects have been chosen to demonstrate the grasping ability. In the experiment, a Modbus RTU protocol and Matlab/Simulink are used as communication and control platform. A specially modified interlink FSR sensor is proposed where a special plastic cover has been developed to enhance the sensor sensitivity. The Arduino IO Package is employed to interface the sensor and Matlab/Simulink. The results show that the significant relationships between finger position, motor current, and force sensor are found and the results can be used for a proper grasping performance.
A safe human-robot physical interaction is required when the robot is used to help humans. This can be achieved by introducing a teleoperated robotic arm in which a human can teach the robot before performing tasks remotely. This paper develops and establishes a three-degree-of-freedom robotic arm and teaching pendant. In particular, a flexible robotic arm is operated in two different modes, namely, the teleoperated mode and the semi-autonomous mode. The teleoperated mode is a manual control using a teaching pendant, where the robot arm replicates various movements of the teaching pendant. On the contrary, the semi-autonomous mode allows the robot to execute a task from one point to another point repetitively after at least one training of the teaching pendant. The Arduino Uno board is employed as a microcontroller, and the integrated development environment ( IDE ) software is used to write and upload the computer code. A series of tests in which the robot performs different tasks is recorded to evaluate the accuracy and consistency of the semi-autonomous and teleoperated modes. The results show that the performance of the proposed low-cost teleoperated robotic arm is reliable and safe to perform various tasks based on the teaching pendant.
-Attaining a good positioning control is an important step to be achieved for a robotic hand to safely grasp an object. The safety of the grasped object can be enhanced by providing a compliant control strategy. This paper presents a model reference adaptive compliance controller where a mass spring damper system can be introduced. The performance of model-based adaptive controller with the effect of friction and stiction is investigated. A few mathematical models of friction are considered i.e. static friction (stiction), coulomb friction (dry friction), viscous friction, drag friction and square root friction. It is observed that a good positioning and compliant control are feasible in the presence of friction and stiction in simulation. It is evident that the level of compliant control can be achieved during the object grasped.
Abstract-In order to ensure that a robotic hand can successfully grasp objects without damaging them, an active compliance control can be a very useful technique to provide a safe grasping. In particular, this paper establishes a direct force control for a 3-Finger Adaptive Robot Gripper by using a PID control. A modified FSR force sensor where a plastic cover is used to ensure the contacted force during grasping can be measured and recorded. A series of grasping tests were performed to observe the performance of PID control. The experimental results show that the PID control can be a simple and reliable control scheme to provide an active compliance control through direct force control. In addition, different compliance level is feasible particularly for a stiff spongy ball.
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