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Object grasping and safe manipulation using friction-based sensing.

Dzitac, Paul 2015, Object grasping and safe manipulation using friction-based sensing., PhD thesis, School of Engineering, Deakin Univeristy.

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Title Object grasping and safe manipulation using friction-based sensing.
Author Dzitac, Paul
Institution Deakin Univeristy
School School of Engineering
Faculty Faculty of Science, Engineering and Built Environment
Degree type Research doctorate
Degree name PhD
Thesis advisor Polishetty, Ashwin
Abdul Mazid
Littlefair, Guy
Dimitriu, Cezar
Date submitted 2015-11
Keyword(s) Robotics
Manufacturing
Object sensors
Object slippage
Summary This project provides a solution for slippage prevention in industrial robotic grippers for the purpose of safe object manipulation. Slippage sensing is performed using novel friction-based sensors, with customisable slippage sensitivity and complemented by an effective slippage prediction strategy. The outcome is a reliable and affordable slippage prevention technology.
Language eng
Field of Research 091007 Manufacturing Robotics and Mechatronics (excl Automotive Mechatronics)
091006 Manufacturing Processes and Technologies (excl Textiles)
091302 Automation and Control Engineering
Socio Economic Objective 970109 Expanding Knowledge in Engineering
Description of original v1, 240 pages : illustrations, graphs, tables, some coloured, appendices.
Copyright notice ┬ęThe Author. All Rights Reserved
Free to Read? Yes
Persistent URL http://hdl.handle.net/10536/DRO/DU:30088301

Document type: Thesis
Collections: Higher degree theses (full text)
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Created: Fri, 28 Oct 2016, 10:52:42 EST by Kate Percival

Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.