On Line Visual-Grasping System Based on a Gripper with Two Flexible Fingers

Abstract In this work we propose a novel gripper with two flexible fingers combined with a visual object recognition system for its implementation in industrial applications, such as manufacturing, assembly and manipulation, among others. This original system increases the manipulability and flexibility of the robots manipulators and improves the safety of the operations carried out with it. This combined system also makes the manipulation of very fragile or deformable objects possible as result of the flexible characteristic of the gripper fingers. The system is mounted at the end effector of a 6 DOF robot manipulator for object recognition and manipulation tasks. The object recognition software is developed and the force control law for the gripper is designed. Experiments are included to demonstrate the good performance of the system proposed.

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