Faster robotic picking of objects can improve industrial production throughput. A gripper design with appropriate control strategy is demonstrated to pick objects at high speed, while being tolerant to unintentional collisions. The design has a quasi-direct drive with backdrivable, rigid finger mechanism to transfer collision forces with minimal delay towards the motor side. These forces are detected based on band-pass filtered momentum and motor speed monitoring. The motor velocity is observed through Kalman filtering in order to reduce noise in the low-level control loop and band-pass momentum observer, resulting in a higher collision detection sensitivity. On a higher level, the path of the gripper is planned with respect to the trade-off picking speed versus collision tolerance, quantified by the remaining gripper stroke upon impact. The gripper collision tolerance was experimentally verified in several scenarios during high-speed object picking where it mitigated collisions up to 0.6 m/s.


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    Title :

    Design and control of a quasi-direct drive robotic gripper for collision tolerant picking at high speed


    Contributors:

    Publication date :

    2022-01-01


    Remarks:

    IEEE ROBOTICS AND AUTOMATION LETTERS ; ISSN: 2377-3766



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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