Force Control in Robotic
Grasping
Funded by:
University of Malta
Start Date: 2001 End
Date: 2005
Budget: € 9,300
Principal Investigator
at the University of
Malta:
Prof.
Ing. Michael A. Saliba
Co-Investigator/s at the
University of Malta:
Ms Claire Seguna
Research Objectives and
Methodology:
The project had two main
objectives:
1.
Development and
testing of an innovative
incipient slip sensing
mechanism.
2.
Analysis and
simulation of force
control under conditions
of impending asymmetric
slip in a multi-fingered
robot hand equipped with
the new slip sensing
mechanism.
This involved research in
mechanical design,
materials testing and
selection, selection and
application of the
actuation system and of
the other sensory devices,
control system design,
detailed analysis and
simulation of a two-finger
gripper equipped with this
sensor, implementation,
and exhaustive system
testing and fine tuning of
the new slip sensing
device. The analytical
treatment was extended to
a three-finger device.
Results:
A new, biologically
inspired incipient slip
sensor, consisting of a
rubber skin covering a
solid “bone” constructed
out of aluminium was
designed, developed,
analyzed, simulated,
experimentally validated,
and evaluated.
Publication:
M. A. Saliba and C. M.
Seguna, “A Biologically
Inspired Sensor for the
Prevention of Object
Slip during Robotic
Grasping and
Manipulation”,
Proceedings of the IEEE
International Conference
on Intelligent
Manipulation and
Grasping (IMG04),
Genova, Italy, July
2004, pp
46-51.
download
14 June 2016
http://www.um.edu.mt/eng/mec/research/projects/computational_methods_for_pressure_vessel_design_by_analysis
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