Two-Flexible-Fingers Gripper Force Feedback Control System for Its Application as End Effector on a 6-DOF Manipulator

Becedas, Jonathan; Payo, Ismael; Feliú, V.

doi:10.1109/tro.2011.2132850

Cited by 49 publications

(29 citation statements)

References 33 publications

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“…Most robotic arms use some mean of force-feedback, that is absolutely reasonable [16][17][18] because the information from the sense of touch is highly important in the case of the real hand also. Force-feedback is necessary, because multi-loop control with visual feedback towards the user and position control with inner feedback loops are not sufficient for fine movement [14].…”

Section: Tasks For the Near Futurementioning

confidence: 99%

Development of a prosthetic hand regarding complex motion and controllability

Lőrinczi

Aradi²

2011

Per. Pol. Mech. Eng.

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In this paper, the critical issues of currently available upper limb prostheses are highlighted; also possibilities of usability improvement are propounded.Although contemporary prosthetic hand constructions are extremely complex and allow numerous movements, they do not give opportunities for many people, because of the difficulties in proper use and the high costs.Based on the aformentioned aspects, the development of such a construction has been started, that hopefully provide solutions both in the ease of use and in cost reduction.After giving a brief overview of upper limb prostheses and detailing the major difficulties, the current state of the device under development is presented, as well as the results of analysesand the direction of future research.

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Section: Tasks For the Near Futurementioning

confidence: 99%

Development of a prosthetic hand regarding complex motion and controllability

Lőrinczi

Aradi²

2011

Per. Pol. Mech. Eng.

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“…However, especial techniques to detect and prevent slippage have been widely used; almost more studies were focused on applying adequately high and previously known forces to prevent slip [1]. Thus, the main problem is how to save a stable grasp, in spite of it is very difficult to predict the type of the object that will be grasped because there are different types of objects in terms of shape, weight, friction coefficient, stiffness, etc.…”

Section: Introduction and Previous Workmentioning

confidence: 99%

“…Kobayashi et al [13] used force/torque sensor, which measures pressure distribution to detect slip. Rather than increasing gripping force, it was proposed more fingers to be applied in order to stop slipping, from the previous research, the remarks can be concluded as follows: (1) Most literatures focused on the location of the sensor so as not to affect the performance of the robotic or prosthetic hands; (2) Some approaches have been used a camera as a vision sensor to estimate the eccentricity degree of contact region, with this approach there is a problem, how to embed camera in relatively small size places like hands. Moreover, processing speed based on the number of frames per second (frame rate) of vision, and achievement detection slippage at high speeds is generally difficult; (3) Some of researchers weren't invented novel sensing technologies, but incorporated different kinds of sensors; (4) Detection slippage by estimation the coefficient of friction, this technique is not accurate and indirect measurement.…”

Section: Introduction and Previous Workmentioning

confidence: 99%

Slip Detection for a Specific Design of Fingertip in Multi-Direction Under Different Load Conditions

Tawfik¹,

Baqer²,

Abdulrazzaq³

2019

JEASD

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In this paper, a novel design of robotic fingertip has been proposed to detect slippage between the robotic fingertip and the grasped object in multi-direction under different types of loads (static and dynamic loads). The detection process is based on the monitoring of variation in the normal to the tangential component of contact force ratios. The fingertip is composed of a compression springs and a conventional force sensors that are mounted to be able to measure the contact force components continuously. A mathematical model has been derived relative to a proposed design with the help of Matlab-Simulink program. Furthermore, the robotic hand mechanism contains the flexible parts to adapt the grasping force during the slippage occurrence period in spite of the hand actuator is in a stopped status. The grasped object is designed in a cube shape with two unbalance DC motors to generate an excitation that is used as an external dynamic load. The experimental results revealed that the proposed design for detecting slippage in multi-direction is feasible and effective for improving the stability of the grasping process.

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“…However, the proposed controllers may not guarantee a global stability under possible large initial tracking errors at fast tip speed. [10][11][12][13][14][15] Therefore, the dynamics of a flexible arm with the tip contact/impact forces can be simplified. [10][11][12][13][14][15] Therefore, the dynamics of a flexible arm with the tip contact/impact forces can be simplified.…”

Section: Introductionmentioning

confidence: 99%

“…21 In order to consider the compliance of the environment, the contact surface was modeled [41][42][43][44][45][46] and some methods based on a lumped parameter model for a single-link flexible robot have been published. [10][11][12][13][14][15] Accordingly, a variety of nonlinear hybrid force-position controllers were proposed using nonlinear finite-dimensional dynamic models [22][23][24][25][26][27][28] for some two-and three-dimensional constrained flexible robots. However, only one or two degrees-of-freedom flexible robot was considered in these studies.…”

Section: Introductionmentioning

confidence: 99%

Tip-contact force control of a single-link flexible arm using feedback and parallel compensation approach

Liu

Lin

2013

Robotica

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In this paper, the force control of a constrained onelink flexible arm is investigated using a feedback parallel compensation algorithm based on a linear distributed parameter model with internal damping of Kelvin-Voigt type. Generally, the non-collocation of the joint torque input and the tip contact force output comes along with the non-minimum phase in nature. To overcome this inherent limitation, a new input induced by the measurement of rootbending moment and its derivative, and a virtual contact force output generated by a parallel compensator are defined. Therefore, the transfer function from the new input to the virtual contact force output is proved not only strictly minimum phase but also in a stable condition. A PD controller then improves the performance of the overall closed-loop system. Furthermore, the perfect asymptotic tracking of a desired contact force trajectory with internal stability can be achieved accurately. The exact solutions of the infinite-dimensional system are obtained using the infinite product formulation. The proposed system promises stability robustness to parameter uncertainties, also free of spillover problems. Numerical simulations are provided to verify the effectiveness of the proposed approach.

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Two-Flexible-Fingers Gripper Force Feedback Control System for Its Application as End Effector on a 6-DOF Manipulator

Cited by 49 publications

References 33 publications

Development of a prosthetic hand regarding complex motion and controllability

Development of a prosthetic hand regarding complex motion and controllability

Slip Detection for a Specific Design of Fingertip in Multi-Direction Under Different Load Conditions

Tip-contact force control of a single-link flexible arm using feedback and parallel compensation approach

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