Development of Robot Gripper and Force Control

Abstract

Generally, robotic gripper enhances the efficiency and the ability to grasp and to control robot`s manipulator rapidly to objects in different shapes and dimensions. In this paper, a new design to control robotic gripper is proposed by controlling based on grasping force method. The gripper is designed with two jaws driven symmetrically by the actuator to grasp and to release the object. Basically, its force is directly measured by force sensing resistance (FSR) type. Force controller is designed by using PID control algorithm with different control gains and objects tuning by experiment methods. Results are shown by experiment by using GUI system. Responses of force controller in different grasping objects are identical. In addition, the virtual motion of robot gripper can be displayed on computer. So this work will lead to improve the grasping force controller design and to enhance working performance in remote environment during handling operation of robot gripper.