An Intelligent Inference System for Robot Hand Optimal Grasp Preshaping

Baysal, Cabbar Veysel; Erkmen, Aydan M.

doi:10.2991/ijcis.2010.3.5.14

Cited by 2 publications

(1 citation statement)

References 33 publications

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“…The majority of the studies on dexterous manipulators reported in the literature have been focused on multi-finger multi-joint structures. C. V. Baysal et al 2010 [1] proposed an intelligent inference system for multi finger manipulators. Y. K. Cho et al 2011 [2] studied the control of a four finger manipulator.…”

Section: Introductionmentioning

confidence: 99%

Realization of Intelligent Grasping on a Traditional Hydraulic Manipulator

Zhen-dong¹,

Zhang²,

Zhou³

2015

TOAUTOCJ

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In the literature, studies on dexterous manipulators are mainly focused on multi-finger multi-joint structures. These manipulators often have difficulties with grasping heavy objects due to the delicateness and complexity of the structures. This paper describes the authors' attempt on implementing dexterous grasping on a traditional two-single-jointfinger hydraulic manipulator. Hydraulic driven manipulators have higher power output. However, dexterous grasping realization on this type of manipulators represents a very high technical challenge as it is difficult to measure the changes in the grasping force and the object attitude. In the authors' study, an angle sensor and a force sensor are used to capture the changes in the finger opening distance and the grasping force. An elastomer and photoelectric device based slip sensor is designed to measure the relative movement between the fingers and the object. A fuzzy control algorithm is developed and implemented on a microcontroller unit to serve as the higher-level controller of a two-level hierarchical control system for the finger movement. The algorithm decides the feeds of the fingers based on the outputs of the angle, force and slip sensors. The lower-level controller is an electrical grasping motion control device that applies the output of the fuzzy controller to control the movement of the fingers. With a 10Mpa hydraulic power rate, the maximum grasping force of the manipulator is over 2500N. Experiments show that this hydraulic dexterous manipulator can grasp both heavy objects and eggs, glasses and other fragile objects.

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Section: Introductionmentioning

confidence: 99%

Realization of Intelligent Grasping on a Traditional Hydraulic Manipulator

Zhen-dong¹,

Zhang²,

Zhou³

2015

TOAUTOCJ

View full text Add to dashboard Cite

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Simulation of Assembly Tolerance and Characteristics of High Pressure Common Rail Injector

Lu¹,

Tang²,

Yong³

et al. 2011

IJCIS

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Fuel injector is the key part of a high-pressure common rail fuel injection system. Its manufacturing precision and assembly quality affect system's property and performance. According to the characteristics and demands of assembly of the fuel injector, an intelligent optimization algorithm is proposed to resolve the problem of assembly sequence planning. Based on geometric modeling, assembly dimension chain of the injector control chamber is established, and the relationship between assembly tolerance and volume change of control chamber is analyzed. The optimization model of the assembly is established. The impact of assembly tolerance on injector's performance is simulated according to the optimization algorithm. The simulation result shows that quantity of injection fuel changes correspondingly with the change of assembly tolerance, while injection rate and pressure do not change significantly, and the response rate of needle considerably slow. Similarly, the leakage rate of fuel in control chamber is calculated, indicating that the assembly tolerance has obvious impact on fuel leakage and its rate. The study illuminates that injector's assembly tolerance has prominent effect on injection.

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An Intelligent Inference System for Robot Hand Optimal Grasp Preshaping

Cited by 2 publications

References 33 publications

Realization of Intelligent Grasping on a Traditional Hydraulic Manipulator

Realization of Intelligent Grasping on a Traditional Hydraulic Manipulator

Simulation of Assembly Tolerance and Characteristics of High Pressure Common Rail Injector

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