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Institutional Repository [SANDBOX]
Technical University of Crete
Technical University of Crete
EN
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EL
| URI: | http://purl.tuc.gr/dl/dias/8C0A84B3-2E47-47FB-810C-0354405070F7 | ||
| Year | 1999 | ||
| Type of Item | Peer-Reviewed Journal Publication | ||
| License |
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| Bibliographic Citation | N. C. Tsourveloudis , K. P. Valavanis, R. Kolluru, I. Nikolos .(1999).Position and suction control of a reconfigurable robotic gripper . Machine Intelligence and Robotic Control [online] .pp. 3-13. Available: http://www.robolab.tuc.gr/assets/papers_pdf/papers_1998_1999/position_suction__robotic_gripper.pdf | ||
| Appears in Collections |
This paper discusses position and suction control of a multi-degree-of-freedom reconfigurable robotic gripper system (RGS) consisting of four arms in a crossbar configuration, with a flat surface, fixed dimensions, suction unit (cup) mounted on each of the four arms. A fuzzy logic based controller has been implemented to regulate, coordinate and maintain the amount of suction generated through each of the suction units and the po- sitioning of the suction cups along each arm length. The RGS is integrated with AdeptOne and/or AdeptThree commercial manipulators and used to automate limp material handling, reliably, without distortion, deformation and/or folding. Extensive simulation results indicate that the RGS control system is robust, reliable and accurate, and meets a set of system requirements specified by the industry. A prototype system is being built, based on the derived design and model of the system.
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