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Authors: A. Margun ; D. Bazylev ; K. Zimenko and A. Kremlev

Affiliation: Faculty of Control Systems and Robotics, ITMO University, 49 Kronverkskiy av., 197101 Saint Petersburg and Russia

Keyword(s): Underactuated Gripper, Force Sensitive System, Force Control, Passive System, Modularity.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation

Abstract: A design of an underactuated electromechanical gripper with force control algorithm is presented in this paper. The key feature of the gripper is the ability to grasp fragile objects and objects of a complex shape. Such advantages are due to the usage of elastic joints and force sensitive resistors embedded in modules of gripper’s fingers. Also low cost and mass of the presented device makes its application rational for a larger number of robotic systems. Proposed force control system is based on PI control and passification approaches that provide tuning simplicity and good performance in the case of unknown environments. Experimental results show the efficiency of proposed solution.

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Paper citation in several formats:
Margun, A.; Bazylev, D.; Zimenko, K. and Kremlev, A. (2019). A Modular Underactuated Gripper with Force Control System. In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-380-3; ISSN 2184-2809, SciTePress, pages 417-422. DOI: 10.5220/0007923904170422

@conference{icinco19,
author={A. Margun. and D. Bazylev. and K. Zimenko. and A. Kremlev.},
title={A Modular Underactuated Gripper with Force Control System},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2019},
pages={417-422},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007923904170422},
isbn={978-989-758-380-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - A Modular Underactuated Gripper with Force Control System
SN - 978-989-758-380-3
IS - 2184-2809
AU - Margun, A.
AU - Bazylev, D.
AU - Zimenko, K.
AU - Kremlev, A.
PY - 2019
SP - 417
EP - 422
DO - 10.5220/0007923904170422
PB - SciTePress

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