DEVELOPMENT OF A GRIPPER WITH FORCE FEEDBACK CONTROL FOR ROBOTS

Abstract

Most robot grippers currently lack the ability to sense the contact force. Achieving autonomous grasping and dexterous manipulation tasks with objects
necessitates active interaction with the environment, a capability that can be realized through the integration of sensory feedback into robot tools. This paper
introduces a two-finger robot gripper capable of measuring grasp force exerted on objects and adjusting its grasp force. The parallel gripper is actuated by servo
motor, and contact torque is effectively estimated and controlled using a simple, low-cost load current sensor. The performance of this force feedback control
system is investigated by grasping various objects with different stiffness and shapes. Experimental results indicate that the proposed system can manipulate
different types of objects (fragile, rigid, and soft) in an industrial environment by precisely controlling the applied contact force.