Three-Fingered Gripper for Multiform Object Grasping with Force Feedback Sensing Control

Matos, Andre; Caballa, Sebastian; Zegarra, Diego; Guzman, Manuel Augusto Aranda; Lizano, David; Encinas, David Fernando Gonzales; Oscanoa, Hector; Arce, Diego

doi:10.1109/andescon50619.2020.9271990

Cited by 3 publications

(1 citation statement)

References 14 publications

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“…The idea to adopt tactile sensors was conceived towards the creation of efficient force controllers, and therefore of enhanced grasping capabilities. In this direction, a three-fingered gripper employed in [21] had all the fingertips equipped with tactile force sensors. A cascade-loop PI configuration was used: the first PI acted directly on the force compensation while the second one was used for the inner current control loop of the DC motor.…”

Section: Proportional Integrative Derivativementioning

confidence: 99%

Control Methodologies for Robotic Grippers: A Review

Cortinovis,

Vitrani,

Maggiali

et al. 2023

Actuators

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As automation is spreading in all the industry domains, the presence of robots is becoming unavoidable inside factories, warehouses and manufacturing facilities. Although a great number of companies and research institutions have concentrated their efforts on developing new robotic systems and advanced algorithms, much work is necessary to provide robotic grippers, especially industrial ones, with reliable, powerful control strategies. Therefore, this article aims at delivering an up-to-date point of view on the state of the art of robotic gripper control. The principal control methodologies employed so far, as well as a thorough selection of the existing contributions to the field, will be reported and discussed. Finally, the authors’ opinion about future directions will be expressed.

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Section: Proportional Integrative Derivativementioning

confidence: 99%