Abstract
The problem of controlling grasping force is one of the essential and important functions that robot gripper should have to prevent damage to the parts and slippage or dropping while handling. In this paper performance of a grasping force control system which utilizes a modified on-off controller is investigated to enhance the grasping force accuracy. The force control system is essentially a simple, low cost pneumatic servomechanism which consists of a solenoid valve, a modified on-off controller and a pneumatic actuator. The modified on-off controller used herein differs from the conventional on-off control in that it utilizes an additional reference signal band termed “pulse band” outside a deadband. Performance variables such as accuracy of grasping force and system stability were experimentally analyzed for various controller design parameters. The experimental results show that much higher force accuracy of grasping can be achieved by the proposed controller, as compared to the accuracy that can be achieved by other on-off control schemes.
now on sabbatical leave at Fraunhofer-Institut fur Produktionstechnik und Automatisierung, Stuttgart, F.R. Germany
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© 1985 Springer-Verlag Berlin Heidelberg
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Kim, S.D., Cho, H.S., Lee, C.W. (1985). Performance Enhancement of a Grasping Force Control System for Robot Grippers via a Modified On-Off Controller. In: Bullinger, HJ., Warnecke, H.J. (eds) Toward the Factory of the Future. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-82580-4_98
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DOI: https://doi.org/10.1007/978-3-642-82580-4_98
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