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Simplified sensor system for an intelligent robotic gripper
Mälardalen University, School of Innovation, Design and Engineering.
Mälardalen University, School of Innovation, Design and Engineering.
2016 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This thesis presents an intelligent gripper (IPA gripper) with a consumer available pre-touch system that can be used for detecting and grasping an unknown object. The paper also proposes a method of using indirect force control with object movement as feedback, named OMFG (Object Motion Focused Grasping). Together with OMFG and the pre-touch system, the gripper can detect and prevent slippage. During the course of this master thesis an iterative design methodology has been used to develop a design. The design has been tested with quantitative and qualitative experiments to verify the quality of the IPA gripper and to validate the hypothesis of this master thesis.

Place, publisher, year, edition, pages
2016. , 30 p.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:mdh:diva-32336OAI: oai:DiVA.org:mdh-32336DiVA: diva2:946321
Presentation
2016-06-09, Kappa, mälardalens högskola, västerås, 09:15 (English)
Supervisors
Examiners
Available from: 2017-02-17 Created: 2016-07-05 Last updated: 2017-02-17Bibliographically approved

Open Access in DiVA

fulltext(6951 kB)59 downloads
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File name FULLTEXT01.pdfFile size 6951 kBChecksum SHA-512
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Type fulltextMimetype application/pdf

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • 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