USP Electronic Research Repository

A Low Cost Linear Force Feedback Control System for a Two-Fingered Parallel Configuration Gripper

Kumar, Rahul and Mehta, Utkal V. and Chand, Praneel (2017) A Low Cost Linear Force Feedback Control System for a Two-Fingered Parallel Configuration Gripper. Procedia Computer Science, 105 . pp. 264-269. ISSN 1877-0509

[img]
Preview
PDF - Published Version
Download (2743Kb) | Preview

    Abstract

    This paper presents a simple linear control based force feedback for the gripper of a SCORBOT ER-4u robotic arm. The SCORBOT ER-4u is a 5 degree of freedom (DOF) dexterous robotic arm with a rigid 2-fingered parallel configuration gripper. A Flexi-Force Force Sensitive Resistor (FSR) is attached to one of the claws of the gripper and interfaced to a notebook computer using Arduino Uno microcontroller. The force sensor aids the robotic arm in three different ways: one, senses if an object has been successfully grasped, second determine the coefficient of friction of the object, and third prevent damage when the object will be grasped. The gripper along with the force sensor is calibrated prior to grasping objects. During calibration, samples of the object to be manipulated are used to establish the extents of the gripper on the basis of its grasping force. By following calibration pattern, the gripper is able to grasp objects with approximately the same coefficient of friction. Most importantly, it ensures that the object to be grasped is not damaged by applying sufficient amount of force based on the object’s weight. The experimental analyses of the proposed work have shown interesting results to control both the SCORBOT ER-4u robotic arm and the force sensor for grasping masses, strictly conforming to the safety margin of the object.

    Item Type: Journal Article
    Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering > Robotics and Automation
    Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Engineering and Physics
    Depositing User: Utkal Mehta
    Date Deposited: 07 Mar 2017 12:17
    Last Modified: 07 Mar 2017 12:23
    URI: http://repository.usp.ac.fj/id/eprint/9654
    UNSPECIFIED

    Actions (login required)

    View Item

    Document Downloads

    More statistics for this item...