Determination of the instantaneous initial contact point on a parallel gripper using a multi input fuzzy rules emulated network controller with feedback from ultrasonic and force sensors

  • Authors:

  • César Navarro;Chidentree Treesatayapun;Arturo Baltazar

  • Affiliations:

  • Centro de Investigación y Estudios Avanzados - Unidad Saltillo, Robotics and Advanced Manufacturing Program, Mexico;Centro de Investigación y Estudios Avanzados - Unidad Saltillo, Robotics and Advanced Manufacturing Program, Mexico;Centro de Investigación y Estudios Avanzados - Unidad Saltillo, Robotics and Advanced Manufacturing Program, Mexico

  • Venue:
  • MICAI'12 Proceedings of the 11th Mexican international conference on Advances in Artificial Intelligence - Volume Part I
  • Year:
  • 2012

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Abstract

Many applications of robotic manipulators require a precise applied force control to determine the instantaneous initial contact (force approaching zero) as accurate as possible. Thus, the transient state from free to restricted motion needs to be taken into account. In this work, a multi input fuzzy rules emulated network (MiFREN) control scheme with adaptation is developed to find the first contact position between the fingers of a parallel gripper and a soft object. We propose the use of an ultrasonic sensor (with Hertzian contact) working simultaneously with a high sensitivity load cell. The IF-Then rules for MiFREN controller and a new cost function using both the ultrasonic signal and the contact force are proposed. The results show that the proposed controller is capable of finding the instantaneous initial contact without any knowledge about the object, material properties and/or its location on the working space.