Here a low cost embedded robotic gripper with force control function is designed for frangible fruit manipulation. This embedded control gripper is integrated with a Mitsubishi robot based on FPGA control structure. The model-free intelligent fuzzy sliding mode control strategy is employed to design the position controller of each joint and gripper force controller, respectively. Experimental results of pick-and-place frangible small tomato and banana fruit are shown by pictures to evaluate this embedded position/force hybrid control system performance.
Embedded Force Control Gripper for Frangible Fruit Robotic Manipulation
Applied Mechanics and Materials ; 284-287 ; 1841-1845
2013-01-25
5 pages
Article (Journal)
Electronic Resource
English
Robotic Gripper With Force Control And Optical Sensors
NTRS | 1992
|NTRS | 1991
|Design of a Three-Finger Gripper for Intra-Vehicular Robotic Manipulation
British Library Conference Proceedings | 1999
|