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Embedded Force Control Gripper for Frangible Fruit Robotic Manipulation

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Abstract:

Here a low cost embedded robotic gripper with force control function is designed for frangible fruit manipulation. This embedded control gripper is integrated with a Mitsubishi robot based on FPGA control structure. The model-free intelligent fuzzy sliding mode control strategy is employed to design the position controller of each joint and gripper force controller, respectively. Experimental results of pick-and-place frangible small tomato and banana fruit are shown by pictures to evaluate this embedded position/force hybrid control system performance.

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Periodical:

Applied Mechanics and Materials (Volumes 284-287)

Pages:

1841-1845

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.284-287.1841

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Cite this paper

Online since:

January 2013

Authors:

Shiuh Jer Huang, Wei Han Chang, Janq Yann Lin

Keywords:

Embedded Control System, Force/Position Control, Fuzzy Sliding Mode Control

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© 2013 Trans Tech Publications Ltd. All Rights Reserved

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