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https://www.um.edu.mt/library/oar/handle/123456789/73098
Title: | The mechanical and control system design of a dexterous robotic gripper |
Authors: | Seguna, C. M. Saliba, Michael A. |
Keywords: | Robotics Robot hands Computer input-output equipment Robots -- Control systems |
Issue Date: | 2001 |
Publisher: | Institute of Electrical and Electronics Engineers |
Citation: | Seguna, C. M., & Saliba, M. A. (2001). The mechanical and control system design of a dexterous robotic gripper. IEEE International Conference on Electronics, Circuits, and Systems (ICECS 2001), Malta. 1195-1201. |
Abstract: | The design and development of dexterous robotic end effectors has been an active research area for a long while. This paper reviews the design and construction of a versatile robotic gripper used to grasp objects of arbitrary shape, size and weight. This is achieved through a mechanical design that incorporates multiple fingers and multiple joints per finger, through the installation of proximity and force sensors on the gripper, and through the employment of an innovative and practical control system architecture for the gripper components. The gripper is installed on a standard six degree-of-freedom industrial robot, and the gripper and robot control programs are integrated in a manner that allows easy application of the gripper in an industrial pick-and-place operation where the characteristics of the object can vary or are unknown. |
URI: | https://www.um.edu.mt/library/oar/handle/123456789/73098 |
Appears in Collections: | Scholarly Works - FacEngME |
Files in This Item:
File | Description | Size | Format | |
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The_mechanical_and_control_system_design_of_a_dexterous_robotic_gripper_2001.pdf Restricted Access | 351.98 kB | Adobe PDF | View/Open Request a copy |
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