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:: International Transaction Journal of Engineering, Management, & Applied Sciences & Technologies

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ISSN 2228-9860
eISSN 1906-9642
CODEN: ITJEA8


FEATURE PEER-REVIEWED ARTICLE

Vol.14(2)(2023)

  • The Effect of Impedance Stiffness Parameter on Grasping Force for Different Object Textures

    M.S. Selamat, R.L.A. Shauri, A.B. Roslan (School of Electrical Engineering, College of Engineering, Universiti Teknologi MARA, 40450 Shah Alam, Selangor, MALAYSIA).

    Discipline: Electronic and Robotic Engineering.

    ➤ FullText

    doi: 10.14456/ITJEMAST.2023.23

    Keywords:Three-fingered robot hand; Grasping force; Impedance control; Stiffness parameter; Object texture; Robot hand system; Force control

    Abstract
    Upon developing an intelligent method for a robot to vary the impedance stiffness parameter by itself, the relationship between the varied stiffness parameter, measured force, and object texture needs to be obtained. A three-fingered robot hand was tested for real grasping on a bottle and a ball that represent a harder and softer object texture, respectively. Varying the parameter at 1000, 500, and 250 for each object, the experiment used a 6-axis force-torque sensor to measure the force for analysis. The stiffness at 1000 showed the most significant difference in force rate compared to the other values for both objects. Besides, at this stiffness, the bottle grasping has recorded 84% of force rate value measured in the range of 0 to 0.6 and 40% in 0.21 to 0.4. Comparatively, the force rate data are most frequently measured by 48% in the range of 0 to 0.2 for ball grasping with the same stiffness. Moreover, from the most frequent range of the force rate, the average value for the bottle is found higher than the ball. These show that object texture is a feasible parameter to be used for developing the object recognition method based on force data in the future.

    Paper ID: 14A2B

    Cite this article:

    Selamat M.S., Shauri R.L.A., Roslan A.B. (2023). The Effect of Impedance Stiffness Parameter on Grasping Force for Different Object Textures. International Transaction Journal of Engineering, Management, & Applied Sciences & Technologies, 14(2), 14A2B, 1-12. http://TUENGR.COM/V14/14A2B.pdf DOI: 10.14456/ITJEMAST.2023.23

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Other issues:
Vol.14(1)(2022)
Vol.13(13)(2022)
Vol.13(10)(2022)
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