Intelligent Robotic Gripper Control Strategy

Abstract:

Although, on-off control robot gripper is widely employed in pick-and-place operations, it can not be applied in fragile or soft objects handling. Here, an intelligent gripper is designed with embedded distributed control structure for overcoming the uncertainty of grasped object mass and soft/hard features. An efficient model-free intelligent fuzzy 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 control strategy are shown by pictures to verify this distributed system performance. The position and force tracking errors are less than 1 mm and 0.1 N, respectively.

• Periodical: Advanced Materials Research (Volumes 753-755)
• Pages: 2006-2009
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.753-755.2006
• Online since: August 2013
• Authors: Shiuh Jer Huang, Wei Han Chang, Jui Yiao Su
• Keywords: Anti-Slip Scheme, Force Control, Fuzzy Sliding Mode Control, Intelligent Gripper

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