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首页> 外文会议>International Conference on Informatics in Control, Automation and Robotics >Active Haptic Control for a Biologically Inspired Gripper in Reconfigurable Assembly Systems: Testing Active Haptic Control through Force Feedback
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Active Haptic Control for a Biologically Inspired Gripper in Reconfigurable Assembly Systems: Testing Active Haptic Control through Force Feedback

机译：可重新配置组装系统中的生物启发夹具的主动触觉控制：通过力反馈测试主动触觉控制

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摘要

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.
机译：柔性夹持器的触觉反馈增强了对人机交互和物体操纵的控制。通过触觉感觉系统强制反馈控制能够抓握易碎组件的抓握性。智能抓握系统的开发具有在可重新配置的组装系统（RAS）中实现的潜力，以供需生产线。研究了对象控制和组装系统的成功对象处理的进步。开发了一个积极的触觉控制系统，以评估通过动态拾取和放置运动来评估夹持肢体夹持力的适应性。目的是使用触觉反馈控制感官系统确定从自调节抓握过程中的力输出。经验上收集力输出数据并绘制在信号节目时间图上。在夹持过程中表示实际掌握力的电压信号。基于先前制造的夹具在基于称为Fin射线效应的生物启发现象的现实夹具进行测试。结论和建议与有效的抓地力控制有关。

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