Simple Search:

Gripping an object based on inspection of slip events for a robotic hand model


Citation

Al-Shanoon, Abdulrahman Abdulkareem Sattoori and Ahmad, Siti Anom and Hassan, Mohd Khair (2017) Gripping an object based on inspection of slip events for a robotic hand model. Advanced Science Letters, 23 (6). 5133 - 5137. ISSN 1936-6612; ESSN: 1936-7317

Abstract / Synopsis

An effective grasping operation is required in intelligent robotic hands to address the well-known challenge that occurs during the gripping process. One of the most important issues is detecting and addressing the slip situation; otherwise, stable grasps will not be achieved properly. This study investigated robotic re-gripping operations based on slip event indication. Tactile pressure sensors are utilized to discover the physical interaction between robotic claws and a particular object during the gripping operation. Slip signal detection is executed by implementing a rotary encoder device that was provided in a robotic hand model. The robotic system has attempted to accomplish the re-gripping mission autonomously. Therefore, an automatic feedback control algorithm is developed to perform re-gripping tasks based on the distance at which an object has slipped. Experimental findings present the correlation between the required forces for an object to re-grip securely and the distance at which an object has slipped. This approach was demonstrated as Hooke’s law.


Download File

[img]
Preview
PDF
Gripping an object based on inspection of slip events for a robotic hand model.pdf

Download (69kB) | Preview

Additional Metadata

Item Type: Article
Divisions: Faculty of Engineering
DOI Number: https://doi.org/10.1166/asl.2017.7326
Publisher: American Scientific Publishers
Keywords: Re-gripping operation; Robotic hand model; Slip detection device; Tactile pressure sensors
Depositing User: Nurul Ainie Mokhtar
Date Deposited: 12 Mar 2019 16:48
Last Modified: 12 Mar 2019 16:48
Altmetrics: http://www.altmetric.com/details.php?domain=psasir.upm.edu.my&doi=10.1166/asl.2017.7326
URI: http://psasir.upm.edu.my/id/eprint/61985
Statistic Details: View Download Statistic

Actions (login required)

View Item View Item