High speed gripping with a soft touch
- Resource Type
- Conference
- Authors
- Van Der Woude, L.; Sozef, B.; Bouwens, C.; Van Eekelen, R.; Mostard, M.; Voermans, N.; Langen, H.
- Source
- 2017 International Conference on Research and Education in Mechatronics (REM) Research and Education in Mechatronics (REM), 2017 International Conference on. :1-4 Sep, 2017
- Subject
- Computing and Processing
Robotics and Control Systems
Signal Processing and Analysis
Tactile sensors
Mechatronics
Real-time systems
Bandwidth
Service robots
- Language
This paper covers the development of a threefinger robot hand for fast and soft gripping of delicate and different shaped objects. The fingers are positioned with submillimetre accuracy at the tip within 0.3 seconds. The hand is also equipped with flexible tactile sensors featuring pressureand slip-measurement. Control algorithms for both position and force control are designed and implemented on a real-time target machine using MATLAB/Simulink. The robotic hand system is currently in its realization phase. This project is a joint project of the Mechatronics & Robotics lab (bachelor thesis student) and a Mechatronic Product Design specialization group of students working in their sixth semester of the Mechatronics Education program of Avans University of Applied Sciences.