Development and Simulation of a Control Strategy for a Two Finger Parallel Electric Gripper

Abstract

Robotic gripping is a functionality that is becoming increasingly important with the growth and development of autonomous machinery and collaborative robots.The human grasp is a complex dynamic system and mimicking its function with a robotic gripper is a challenging task. This paper develops a strategy to control both position and force of a two-finger parallel gripper using cascading control schemes and a switching mechanism. The performance of different control schemes were compared in simulation to determine a preeminent and feasible process control that can be implemented on an experimental setup and eventually be used in industry.