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Auto-grasping algorithm of robot gripper based on pressure sensor measurement

Almassri, Ahmed M. M. and Wada, Chikamune and Wan Hasan, Wan Zuha and Ahmad, Siti Anom (2017) Auto-grasping algorithm of robot gripper based on pressure sensor measurement. Pertanika Journal of Science & Technology, 25 (spec. Feb.). pp. 113-122. ISSN 0128-7680; ESSN: 2231-8526

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Official URL: http://www.pertanika.upm.edu.my/Pertanika%20PAPERS...

Abstract

This paper presents an auto grasping algorithm of a proposed robotic gripper. The purpose is to enhance the grasping mechanism of the gripper. Earlier studies have introduced various methods to enhance the grasping mechanism, but most of the works have not looked at the weight measurement method. Thus, with this algorithm, the weight of the object is calculated based on modified Wheatstone Bridge Circuit (WBC) which is controlled by programmable interface controller (PIC) method. Having this approach introduces and improves the grasping mechanism through an auto grasping algorithm. Experimental results show that an auto grasping algorithm based on pressure sensor measurements leads to a more precise grasping measurement and consequently enhance the sensitivity measurement as well as accurate movement calibration. Furthermore, several different grasping objects based on the proposed method are examined to demonstrate the performance and robustness of our approach.

Item Type:Article
Keyword:Auto grasping algorithm; Pressure sensor; Grasping mechanism; Wheatstone bridge circuit
Faculty or Institute:Faculty of Engineering
Publisher:Universiti Putra Malaysia Press
ID Code:55851
Deposited By: Nabilah Mustapa
Deposited On:30 Jun 2017 17:47
Last Modified:05 Jul 2017 11:44

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