论文信息 - A method to control grip force and slippage for robotic object grasping and manipulation

A method to control grip force and slippage for robotic object grasping and manipulation

A grip force and slippage control for robotic object manipulation, based on mechanical friction is presented. This approach allows a load to be held reliably in the robot gripper without application of excessive forces or allowing uncontrolled slippage. It is a simple, robust and low cost solution, and could be used for applications where low cost integrated grip force and slippage control are needed. This solution could be customized to provide reliable grip force and slippage control for light, medium or heavy load holding applications for a variety of different objects.

P. Dzitac | A. M. Mazid

[1] E. Rabinowicz,et al. Friction and Wear of Materials , 1966 .

[2] V. Popov. Contact Mechanics and Friction , 2010 .

[3] Erik Oberg,et al. Machinery's Handbook , 2012 .

[4] R.A. Russell,et al. A Robotic Opto-tactile Sensor for Assessing Object Surface Texture , 2006, 2006 IEEE Conference on Robotics, Automation and Mechatronics.

[5] John Kenneth Salisbury,et al. Experimental Evaluation of Friction Characteristics with an Articulated Robotic Hand , 1991, ISER.

[6] V. Popov. Contact Mechanics and Friction: Physical Principles and Applications , 2010 .

[7] Murat Sönmez. A Study on the Combined Effect of Axle Friction and Rolling Resistance , 2003 .

[8] Marcel Tresanchez,et al. The optical mouse sensor as an incremental rotary encoder , 2009 .

[9] S. Petchartee,et al. Pre-slip detection based Tactile Sensing , 2007, 2007 3rd International Conference on Intelligent Sensors, Sensor Networks and Information.

[10] K. Kobe. The friction and lubrication of solids , 1951 .