Improving the Grasping Force Behavior of a Robotic Gripper: Model, Simulations, and Experiments
Giuseppe Vitrani,
Simone Cortinovis,
Luca Fiorio
et al.
Abstract:Robotic grippers allow industrial robots to interact with the surrounding environment. However, control architectures of the grasping force are still rare in common industrial grippers. In this context, one or more sensors (e.g., force or torque sensors) are necessary. However, the incorporation of such sensors might heavily affect the cost of the gripper, regardless of its type (e.g., pneumatic or electric). An alternative approach could be open-loop force control strategies. Hence, this work proposes an appr… Show more
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