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.
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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