Intelligent Robotic Gripper with Adaptive Grasping Force

다국어 초록 (Multilingual Abstract)

The on-off control robot gripper is widely employed in pick-and-place operations in Cartesian space forhandling hard objects between two positions. Without contact force monitoring, it can not be applied in fragile orsoft objects handling. Although, an appropriate grasping force or gripper opening for each target could be searchedby trial-and-error process, it needs expensive force/torque sensor or an accurate gripper position controller. It hastoo expensive and complex control strategy disadvantages for most of industrial applications. In addition, it cannot overcome the target slip problem due to mass uncertainty and dynamic factor. Here, an intelligent gripper isdesigned with embedded distributed control structure for overcoming the uncertainty of object’s mass and soft/hardfeatures. A communication signal is specified to integrate both robot arm and gripper control kernels for executingthe robotic position control and gripper force control functions in sequence. An efficient model-free intelligentfuzzy sliding mode control strategy is employed to design the position and force controllers of gripper, respectively.
Experimental results of pick-and-place soft and hard objects with grasping force auto-tuning and anti-slip controlstrategy are shown by pictures to verify the dynamic performance of this distributed control system. The positionand force tracking errors are less than 1 mm and 0.1 N, respectively.

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