A Force-Sensitive Grasping Controller Using Tactile Gripper Fingers and an Industrial Position-Controlled Robot
Volker Gabler,Gerold Huber,Dirk Wollherr,Volker Gabler,Gerold Huber,Dirk Wollherr
Grasping fragile objects in the presence of un-certainty is a crucial task for robots, that becomes inherently challenging if the manipulator in use is an industrial robot platform that does not provide compliant control inputs. This requires not only to estimate the alignment error during object contact but also to alter the robot configuration to decrease this error while taking interaction cons...
