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Friction-based slippage and tangential force detection in robotic grasping

conference contribution
posted on 08.12.2017, 00:00 by P Dzitac, Abdul Mazid, MY Ibrahim, TA Choudhury, GK Appuhamillage
© 2015 IEEE.This paper presents a newly developed parallel gripper prototype capable of sensing grasp force, tangential force and slippage. In this design the gripper itself is used as part of the sensing strategy rather than just being simply a structural support for other sensors. The sensing capability of this gripper is simple in design and reliable. The sensing strategy can be customised to specific applications such as the ability to handle large loads while maintaining its ability to detect slippage as reliably as when handling lighter loads.

History

Start Page

4875

End Page

4879

Number of Pages

5

Start Date

09/11/2015

Finish Date

12/11/2015

ISBN-13

9781479917624

Location

Yokohama, Japan

Publisher

IEEE

Place of Publication

Piscataway, NJ.

Peer Reviewed

Yes

Open Access

No

External Author Affiliations

Deakin University; Macquarie University; Federation University

Era Eligible

Yes

Name of Conference

Annual Conference of the IEEE Industrial Electronics Society, 41st, IECON 2015

Exports

CQUniversity

Exports