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Optimal sensing requirement for slippage prevention in robotic grasping

Dzitac, Pavel, Mazid, Abdul Md, Ibrahim, M. Yousef, Appuhamillage, Gayan Kahandawa and Choudhury, T. A. 2015, Optimal sensing requirement for slippage prevention in robotic grasping, in ICIT 2015 : IEEE International Conference on Industrial Technology, IEEE, Piscataway, N.J., pp. 373-378, doi: 10.1109/ICIT.2015.7125127.

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Title Optimal sensing requirement for slippage prevention in robotic grasping
Author(s) Dzitac, Pavel
Mazid, Abdul Md
Ibrahim, M. Yousef
Appuhamillage, Gayan Kahandawa
Choudhury, T. A.
Conference name IEEE Industrial Technology. International Conference (2015 : Seville, Spain)
Conference location Seville, Spain
Conference dates 17-19 Mar. 2015
Title of proceedings ICIT 2015 : IEEE International Conference on Industrial Technology
Publication date 2015
Start page 373
End page 378
Total pages 6
Publisher IEEE
Place of publication Piscataway, N.J.
Keyword(s) intelligent grasping
industrial robotics
object manipulation
grasping forces
sensors
Summary This paper presents a new theoretical development and modelling related to the requirement of the minimum number of sensors necessary for slippage prevention in robotic grasping. A fundamental experimental investigation has been conducted to support the newly developed postulate. A series of basic experiments proved that it is possible to evaluate the contributions of various sensors to slippage prevention and control in robotic grasping. The use of three discrete physical sensors, one for each of the three sensing functions (normal, tangential and slippage), has been proven to be the most reliable combination for slippage prevention in robotic grasping. It was also proven that the best performance from a two-sensor combination can be achieved when normal grasp force and tangential force are both monitored in the grasping process.
ISBN 9781479977994
Language eng
DOI 10.1109/ICIT.2015.7125127
Field of Research 091007 Manufacturing Robotics and Mechatronics (excl Automotive Mechatronics)
091302 Automation and Control Engineering
091006 Manufacturing Processes and Technologies (excl Textiles)
Socio Economic Objective 861403 Industrial Machinery and Equipment
HERDC Research category E1 Full written paper - refereed
ERA Research output type E Conference publication
Copyright notice ©2015, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30082871

Document type: Conference Paper
Collection: School of Engineering
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