Active Haptic Control for a Biologically Inspired Gripper in Reconfigurable Assembly Systems - Testing Active Haptic Control through Force Feedback

Christian Ivan Basson, Glen Bright

2018

Abstract

Haptic feedback for flexible grippers enhances control over human-machine interaction and object manipulation. Force feedback control through a haptic sensory system enables gripping sensitivity for the grasping of fragile components. The development of intelligent gripping systems has the potential to be implemented in Reconfigurable Assembly Systems, (RAS), for on-demand production lines. Advancements in object control and successful object handling for assembling systems were investigated. An active haptic control system was developed to assess the adaptability of gripper appendage grip force through a dynamic pick and place movement. The aim was to determine the force output from a self-adjusting grasping procedure using a haptic feedback control sensory system. The force output data was empirically collected and plotted on a signal verse time graph. The voltage signal representing the actual grasp force throughout a gripping procedure. The testing was performed on a previously manufactured gripper based on a biologically inspired phenomenon called the Fin Ray Effect®. Conclusions and recommendations were made in relation to effective grip force control.

Paper Citation

in Harvard Style

Bright G. (2018). Active Haptic Control for a Biologically Inspired Gripper in Reconfigurable Assembly Systems - Testing Active Haptic Control through Force Feedback.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 81-90. DOI: 10.5220/0006840800810090

in Bibtex Style

@conference{icinco18,
author={Glen Bright},
title={Active Haptic Control for a Biologically Inspired Gripper in Reconfigurable Assembly Systems - Testing Active Haptic Control through Force Feedback},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={81-90},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006840800810090},
isbn={978-989-758-321-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Active Haptic Control for a Biologically Inspired Gripper in Reconfigurable Assembly Systems - Testing Active Haptic Control through Force Feedback
SN - 978-989-758-321-6
AU - Bright G.
PY - 2018
SP - 81
EP - 90
DO - 10.5220/0006840800810090