DETECTION AND CONTROL OF SLIPPAGE AT THE ROBOTIC GRIPPER

Abstract

A study is presented which utilizes a tactile system using force sensing resistor (FSR) material as the tactile elements, for detection and control of slippage at the robotic gripper. The characteristics at the output of the FSR element during the presence of a dynamic phenomenon are studied. The distinguishing features of these characteristics are identified and used for slippage detection. The development of the necessary hardware to identify these salient features for slippage detection is described. The possibility of using these characteristics to control slippage and their limitations for effective slippage control are discussed. A modified control strategy for slippage detection is presented. The testing of detection and control of slippage at the robotic gripper of a Mitsubishi Movemaster RM-101 robot using the control strategy is explained with satisfactory results. The results presented here provide enough evidence for possible use of the FSR tactile system for slippage detection and control.