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Object slippage prevention using different control strategies
conference contributionposted on 2020-02-19, 00:00 authored by P Dzitac, Abdul MazidAbdul Mazid, G Littlefair, A Polishetty
This paper presents experimental results obtained using a friction-based slippage and tangential force sensing device that has been developed for the purpose of reliable object slippage prevention during robotic manipulation. The experimental results obtained demonstrate that the developed slippage sensing strategy is rugged and reliable even in its current "rough prototype" state of development. This work has the potential to yield a low cost and highly customisable slippage and tangential force sensing device for a variety of robotic object grasping and manipulation applications. It is envisaged that the work presented here will be beneficial to researchers in the area of object slippage prevention.