High performance robotic gripper based on choice of feedback variables

摘要

The human operators may be subjected to hazardous environments or monotony routine work in pick and place type operation. One has to rely on robotic or autonomous systems that have robust and flexible mechanical structure to adapt to the needs of environment in order to remove these hazardous. The gripper is one of a critical component of an industrial robot which is often useful in industrial environments for object grasping during handling process. The applied force by the gripper on the grasped object should be well controlled to avoid the risk of the object slipping as well as any possible damage to the object. This goal can be difficult to achieve because of the nonlinearities such as mechanical system and nature of used sensors and friction forces. Researchers in this field handle the gripper from several points of view such as the construction effect that appear in two fingers or multi fingers configuration and sensors investigation to increase the robot awareness and the control strategies. Robotic gripper and the criteria of configuration are investigated in this paper. The importance of ANFIS modeling of the system to be closed to real system is presented. The performance of this system is enhanced by proper choice of the feedback variables in the proposed control strategy. The proposed robotic gripper and control strategy is verified experimentally.