Sensor system for controlling a multifingered gripper on a robot arm

Fischer, Th.

doi:10.1109/iros.1998.724809

Cited by 4 publications

(3 citation statements)

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“…[38] In this robotic arm three laser sensors used for distance measuring, range of every laser between 80-180mm, it gives three accuracy value at three different times, 1ms with an accuracy of 1mm, 10ms with accuracy of 0.33mm and 100ms with an accuracy of 0.1mm. [12] One can observe the high accuracy less than 10cm achieved even for the early predictions, with the major error occurring in the X-axis direction of the throw.…”

Section: G Accuracy and Repeatabilitymentioning

confidence: 99%

Survey of robotic arm and parameters

Patidar

Tiwari

2016

2016 International Conference on Computer Communication and Informatics (ICCCI)

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This is a survey paper on a robotic arm and their development. It gives a technical introduction to some of the recent research work in this field. This is a working field of research in which there are a number of outstanding open problems and an area of exploration. Nowadays, a different variety of robotic arms are commercially available. Some of them are excellent in accuracy and repeatability. In this paper, we understand the evolution of robotic arm in last 20 years and described different parameters of an arm. Type of robotic arm only depends on these parameters. Our survey may be used for knowledge and guidelines for future research work. The paper concludes with research gaps and proposed work. Robotic arm uses in the different fields like a household, workplace, and working station. Keywords-Robotic arm, axis, degree of freedom, working envelope and space, kinematics, payload, speed and acceleration, accuracy and repeatability.I.

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Section: G Accuracy and Repeatabilitymentioning

confidence: 99%

Survey of robotic arm and parameters

Patidar

Tiwari

2016

2016 International Conference on Computer Communication and Informatics (ICCCI)

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“…For example, in case of an unknown object, at first, a complete image of the object has to be taken in order to determine its state. In most of industrial applications, the object to be grasped are known, a working space sensor in the working cell of the hand [5] [13] provides approximating location of the object; therefore, only exact position and orientation of the object has to be determined. The same to a grasped object that is going to be manipulated or mounted, only the position and orientation of the object are detected to avoid losing the object and to allow fine manipulation.…”

Section: The Object Pose S E N S O R Systemmentioning

confidence: 99%

“…Since these information are roughly known by a working space sensor [5], the following technique is used: scanning only a few points lying within particular lines and circles on the supposed object's position [l]. Combining geometrical knowledge of the object and the results of the measurements, the exact position and orientation of the object can be calculated.…”

Section: Grasp Phasementioning

confidence: 99%

Sensor-based controlling of the objects pose for multifinger grippers

Fischer

Rapela

Woern

1999

Proceedings of the 1999 IEEE International Symposium on Intelligent Control Intelligent Systems and Semiotics (Cat. No.99CH3701

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In the field of research and development of grippers in object-handling applications, many research results in improving grippers' performances have been achieved, and many kinds of multifinger grippers have been developed. By using multifinger grippers, it is possible to grasp different objects of different shapes without changing grippers; and most importantly, it can manipulate the grasped object in the hand, under the condition that the object is controlled in real-time. Therfore, an object-pose controller with feedback from an object-pose sensor is presented in this paper.

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