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INTELLIGENT ROBOTIC GRIPPER WITH AN ADAPTIVE GRASP TECHNIQUE
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
2018 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This thesis presents a robotic gripper with an intelligent sensor system to grasp objects with an adaptive grasp technique. Two techniques are used, one for small objects and one for large objects. The sensor system is able to detect the object and measure its size to adapt the grasp. Optical motion sensors are used to see when the object is slipping between the fingers which means that more force needs to be applied. This makes it possible to grasp rigid and soft objects without damaging them. The functionality of the gripper was tested on eight objects with various characteristics. The results show that it can adapt the grasp technique and grasping force to the objects’ size and softness. It also shows that adding one more grasp technique made it possible to grasp more objects, compared to a different gripper with a single grasp technique which were used as a foundation for this thesis.

Place, publisher, year, edition, pages
2018.
National Category
Robotics
Identifiers
URN: urn:nbn:se:mdh:diva-40573OAI: oai:DiVA.org:mdh-40573DiVA, id: diva2:1245002
Subject / course
Computer Science
Supervisors
Examiners
Available from: 2018-09-04 Created: 2018-09-04 Last updated: 2018-09-04Bibliographically approved

Open Access in DiVA

fulltext(7720 kB)156 downloads
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Type fulltextMimetype application/pdf

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Pettersson-Gull, PontusJohansson, Johan
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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf