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1 February 1991 Sensor-based identification of control parameters for intelligent gripping
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Proceedings Volume 1387, Cooperative Intelligent Robotics in Space; (1991)
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States
Space robotics in the nineties and beyond will need a variety of sensor-based monitoring and control systems attached to the manipulators in order to perform different tasks. The manipulator service units which will perform tasks in unstructured environments will require information to implement procedures for handling objects of different shapes and sizes. An important component of such a procedure is the identification of control parameters which can be used to automate simple grasping and releasing operations. This paper describes a novel scheme to identify control parameters given the task status of a grasping or releasing operation. A prototype tactile sensing gripper was used to obtain experimental data while grasping and releasing a set of sample objects. From the tactile images formed from these data task status was determined and identified in terms of four parameters grasping level releasing level and a confidence factor associated with grasping and with releasing. A set of control parameters were identified such that they may be obtained from the task status parameters from two successive tactile images. An expert system was designed to determine a value for the selected parameters. The detection of object displacement with respect to the gripper surface during a task was identified in terms of static and dynamic displacements. These in turn were used to determine the control decision parameter for recommending movement of the grippers based on task status. The selection
© (1991) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Hugh C. Wood and C. S. Vaidyanathan "Sensor-based identification of control parameters for intelligent gripping", Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991);

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