Tactile force control feedback in a parallel jaw gripper

Castro, D.; Marques, Lino; Nunes, Urbano; Almeida, A.T. de

doi:10.1109/isie.1997.648836

Cited by 10 publications

(9 citation statements)

References 5 publications

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“…Ceccarelli et al [1] made a robot's finger with a force sensor that can only detect the force in the grasping direction, and equipped it with position and force controls for gripping an unknown object. Castro et al [2] manufactured a jaw gripper with an F x force sensor and carried out force control using it. Tlale et al [3] fabricated an intelligent gripper with a contact sensor and a circuit for controlling it.…”

Section: Introductionmentioning

confidence: 99%

Development of a six-axis force/moment sensor and its control system for an intelligent robot s gripper

Kim¹,

Lee²

2003

Meas. Sci. Technol.

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This paper describes the development of a six-axis force/moment sensor and its control system for an intelligent robot's gripper. An intelligent robot's gripper should detect the forces F x (x-direction force), F y and F z in the gripping direction and in the gravitational direction, and be controlled by the measured forces and the gripper's control system to safely grasp an unknown object. Also, it should detect the moments M x (x-direction moment), M y and M z to accurately perceive the position of the object in the grippers. Therefore, an intelligent robot's gripper should be composed of a six-axis force/moment sensor which can measure the forces F x , F y and F z , and the moments M x , M y and M z simultaneously. It is required that each component sensor of the six-axis force/moment sensor generally has the same rated output, and the same capacity (e.g. F x = F y = F z = 50 N, M x = M y = M z = 5 N m) or different capacity (e.g. F x = 40 N, F y = 50 N, F z = 60 N, M x = 4 N m, M y = 3 N m, M z = 5 N m) in each force component and moment component in the gripper, depending on the particular application. The control system should have a fast processing speed for measuring the signals of the sensors and controlling the gripper without much delay time, and should be of small size. The grippers are made with a force sensor which can detect force in only one direction. The control system consists of a personal computer and an A/D, D/A converter board.In this paper, a six-axis force/moment sensor using parallel-plate beams is designed and fabricated to make an intelligent robot's gripper; the gripper's control system is designed and manufactured using a digital signal processor.

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Section: Introductionmentioning

confidence: 99%

Development of a six-axis force/moment sensor and its control system for an intelligent robot s gripper

Kim¹,

Lee²

2003

Meas. Sci. Technol.

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“…Castrolet, et al also carried out a research on the force controlling using a gripper with force sensors. Tlale et al suggested an intelligent gripper with contact sensors mounted, and a control circuit [2,3]. Haddadin and Tsetserukou carried out a research to gain stability by applying a torque sensor to the joint of arms of human service robots which are frequently in touch with humans, and to make the robots do works requiring force control [4,5].…”

Section: Introductionmentioning

confidence: 99%

Development of 1-axis torque sensor with different shape of support and measurement spoke

Lee

Yang

Shin

et al. 2014

2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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This paper describes the design of a new 1-axis torque sensor that consists of two different type spokes. The sensor has three trapezoidal shape spokes and three support spokes. It serves a double purpose that the sensitivity and stiffness for driving torque. We suggest trapezoid-typed spokes rather than conventional rectangular-typed spoke for sensitivity, and support spokes are used to tolerate to decrease the deformation. The sensor is verified by finite element model analysis and experiments. The result showed the linear relationship between the applied weight and the measured value.

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“…Some sensors like the FlexiForce are even insensitive to magnetic field [6]. These sensors seem to be well adapted to force-control tasks and have already been considered in control schemes [7] [8] [9].…”

Section: Introductionmentioning

confidence: 99%

Towards efficient pipe maintenance: DeWaLoP in-pipe robot stability controller

Mateos

Zhou

Vincze

2012

2012 IEEE International Conference on Mechatronics and Automation

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This paper describes the stability controller of the DeWaLoP (Developing Water Loss Prevention) in-pipe robot. The robot's objective is to redevelop the pipe joints of fresh water supply systems by crawling into water canals and applying a restoration material to repair the pipes. The robot's structure consists of six wheeled-legs, three on the front separated 120° and three on the back in the same configuration, supporting the structure along the centre of the pipe. The robot, by maintaining its structure in the pipe's centre, enables the cleaning and sealing tools to work properly by rotating around the inner circumference of the pipe, similar to a cylindrical robot, covering the entire 3D in-pipe space. Likewise, the tools may exert different forces while working, pushing or pulling the structure of the robot and moving it out of its centered position. Moreover, the pipes have maximum degree of pressure of 6 bar, meaning that the pipes can break if the forces are not balanced. Therefore, robot requires to be calibrated at the center of the pipe before the maintenance task is implemented and a dynamic controller is needed to maintain a proportional pressure on each of the robot's wheeled-legs for balancing the robot when the tools system (cleaning and sealing systems) are working.Index Terms-In-pipe Robot, Pressure/Force Sensor, Dynamic Stability Controller.

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Tactile force control feedback in a parallel jaw gripper

Cited by 10 publications

References 5 publications

Development of a six-axis force/moment sensor and its control system for an intelligent robot s gripper

Development of a six-axis force/moment sensor and its control system for an intelligent robot s gripper

Development of 1-axis torque sensor with different shape of support and measurement spoke

Towards efficient pipe maintenance: DeWaLoP in-pipe robot stability controller

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