Simplified sensor system for an intelligent robotic gripper
This thesis presents an intelligent gripper (IPA gripper) with a consumer available pre-touch system that can be used for detecting and grasping an unknown object. The paper also proposes a method of using indirect force control with object movement as feedback, named OMFG (Object Motion Focused Grasping). Together with OMFG and the pre-touch system, the gripper can detect and prevent slippage. During the course of this master thesis an iterative design methodology has been used to develop a design. The design has been tested with quantitative and qualitative experiments to verify the quality of the IPA gripper and to validate the hypothesis of this master thesis.
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