Design and Control of a Quasi-Direct Drive Robotic Gripper for Collision Tolerant Picking At High Speed
نویسندگان
چکیده
Faster robotic picking of objects can improve industrial production throughput. A gripper design with appropriate control strategy is demonstrated to pick at high speed, while being tolerant unintentional collisions. The has a quasi–direct drive backdrivable, rigid finger mechanism transfer collision forces minimal delay towards the motor side. These are detected based on band–pass filtered momentum and speed monitoring. velocity observed through Kalman filtering in order reduce noise low–level loop observer, resulting higher detection sensitivity. On level, path planned respect trade–off versus tolerance, quantified by remaining stroke upon impact. tolerance was experimentally verified several scenarios during high–speed object where it mitigated collisions up 0.6 m/s.
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ژورنال
عنوان ژورنال: IEEE robotics and automation letters
سال: 2022
ISSN: ['2377-3766']
DOI: https://doi.org/10.1109/lra.2022.3184777