GRASP CONTROL USING TACTILE SENSORY FEEDBACK
Date
1991-08
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
ORCID
Type
Degree Level
Masters
Abstract
The design of a grasp control system for an existing three-fingered robot gripper is presented with the results of laboratory testing on a prototype system built for this thesis project.
The system can detect when an object has been grasped by the gripper, and when the object starts to slip. It does this by sampling the sensors of the gripper fingers. Sampling can be performed on the sensors of three fingers, two fingers, or one finger. When slip has been detected, the system takes control action to stop further slip by increasing the grip on the object.
Description
Keywords
Citation
Degree
Master of Science (M.Sc.)
Department
Electrical and Computer Engineering
Program
Electrical Engineering