The challenging task of automated handling of variable objects necessitates a combination of innovative engineering and advanced information technology. This paper describes the application of a recently developed control strategy applied to overcome some limitations of robot handling, particularly when dealing with variable objects. The paper focuses on a novel approach to accommodate the need for sensing and actuation in controlling the pickup procedure. An experimental robot-based system for the handling of soft parts, ranging from artificial components to natural objects such as fruit and meat pieces was developed. The configuration comprises a modular gripper subsystem, and an industrial robot as part of a distributed control system. The gripper subsystem features manually configurable fingers with integrated sensing capabilities. The control architecture is based on a concept of decentralized control differentiating between positioning and gripping procedures. In this way, the robot and gripper systems are treated as individual handling operations. THis concept allows very short set-up times for future changes involving one or more sub-systems.


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    Title :

    Experimental robot gripper control for handling of soft objects


    Contributors:

    Conference:

    Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling ; 1996 ; Boston,MA,United States


    Published in:

    Publication date :

    1996-10-29





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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