Design and control of a quasi-direct drive robotic gripper for collision tolerant picking at high speed
- Author
- Frederik Ostyn (UGent) , Bram Vanderborght and Guillaume Crevecoeur (UGent)
- Organization
- Abstract
- 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.
- Keywords
- Grippers and other end-effectors, industrial robots, failure detection and recovery
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Citation
Please use this url to cite or link to this publication: http://hdl.handle.net/1854/LU-8758447
- MLA
- Ostyn, Frederik, et al. “Design and Control of a Quasi-Direct Drive Robotic Gripper for Collision Tolerant Picking at High Speed.” IEEE ROBOTICS AND AUTOMATION LETTERS, vol. 7, no. 3, 2022, pp. 7692–99, doi:10.1109/LRA.2022.3184777.
- APA
- Ostyn, F., Vanderborght, B., & Crevecoeur, G. (2022). Design and control of a quasi-direct drive robotic gripper for collision tolerant picking at high speed. IEEE ROBOTICS AND AUTOMATION LETTERS, 7(3), 7692–7699. https://doi.org/10.1109/LRA.2022.3184777
- Chicago author-date
- Ostyn, Frederik, Bram Vanderborght, and Guillaume Crevecoeur. 2022. “Design and Control of a Quasi-Direct Drive Robotic Gripper for Collision Tolerant Picking at High Speed.” IEEE ROBOTICS AND AUTOMATION LETTERS 7 (3): 7692–99. https://doi.org/10.1109/LRA.2022.3184777.
- Chicago author-date (all authors)
- Ostyn, Frederik, Bram Vanderborght, and Guillaume Crevecoeur. 2022. “Design and Control of a Quasi-Direct Drive Robotic Gripper for Collision Tolerant Picking at High Speed.” IEEE ROBOTICS AND AUTOMATION LETTERS 7 (3): 7692–7699. doi:10.1109/LRA.2022.3184777.
- Vancouver
- 1.Ostyn F, Vanderborght B, Crevecoeur G. Design and control of a quasi-direct drive robotic gripper for collision tolerant picking at high speed. IEEE ROBOTICS AND AUTOMATION LETTERS. 2022;7(3):7692–9.
- IEEE
- [1]F. Ostyn, B. Vanderborght, and G. Crevecoeur, “Design and control of a quasi-direct drive robotic gripper for collision tolerant picking at high speed,” IEEE ROBOTICS AND AUTOMATION LETTERS, vol. 7, no. 3, pp. 7692–7699, 2022.
@article{8758447,
abstract = {{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.}},
author = {{Ostyn, Frederik and Vanderborght, Bram and Crevecoeur, Guillaume}},
issn = {{2377-3766}},
journal = {{IEEE ROBOTICS AND AUTOMATION LETTERS}},
keywords = {{Grippers and other end-effectors,industrial robots,failure detection and recovery}},
language = {{eng}},
number = {{3}},
pages = {{7692--7699}},
title = {{Design and control of a quasi-direct drive robotic gripper for collision tolerant picking at high speed}},
url = {{http://doi.org/10.1109/LRA.2022.3184777}},
volume = {{7}},
year = {{2022}},
}
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