• Login
    View Item 
    •   Research Bank Home
    • Study Areas
    • Construction + Engineering
    • Construction + Engineering Journal Articles
    • View Item
    •   Research Bank Home
    • Study Areas
    • Construction + Engineering
    • Construction + Engineering Journal Articles
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Development of a force feedback system for a SCORBOT robotic arm gripper

    Chand, Praneel; Lal, S.; Kumar, R.

    Thumbnail
    Share
    View fulltext online
    jeas_1216_5454.pdf (792.4Kb)
    Date
    2016-12
    Citation:
    Chand, P., Lal, S., & Kumar, R. (2016). Development of a Force Feedback System for a SCORBOT Robotic Arm Gripper. ARPN Journal of Engineering and Applied Sciences, 11(23), pp.13766-13774.
    Permanent link to Research Bank record:
    http://hdl.handle.net/10652/4084
    Abstract
    This paper presents the development of a linear control based force feedback system for a scorbot robotic arm. The scorboter-4u is a 5 degree of freedom (DOF) robotic arm with a 2-fingered parallel configuration gripper. A flexi-force force sensitive Resistor (FSR) is attached to one of the claws of the gripper and interfaced to a laptop computer controllerviaan Arduino Uno microcontroller. The force sensor assists the robot in three different ways. Firstly, it provides feedback on a successful grasping task. Secondly, through iterative experiments, the coefficient of friction of the object being manipulated can be determined. Thirdly, force control on the target object being manipulated can be established to prevent damage. The gripper and force sensor combination is calibrated prior to grasping objects. MATLAB 2014a is used to command both the scorbot er-4u’s control box and Arduino Uno force sensor controller.
    Keywords:
    robotic arm, gripper, force feedback, calibration, control, force sensor
    ANZSRC Field of Research:
    090602 Control Systems, Robotics and Automation
    Copyright Notice:
    ©2006-2016 Asian Research Publishing Network (ARPN)
    Available Online at:
    http://www.arpnjournals.org/jeas/research_papers/rp_2016/jeas_1216_5455.pdf
    Rights:
    This digital work is protected by the Copyright Act 1994 (New Zealand). It may be consulted by you, provided you comply with the provisions of the Act and the following conditions of use: Any use you make of these documents or images must be for research or private study purposes only, and you may not make them available to any other person. You will recognise the author's and publishers rights and give due acknowledgement where appropriate.
    Metadata
    Show detailed record
    This item appears in
    • Construction + Engineering Journal Articles [45]

    Library home
    Send Feedback
    Research publications
    Unitec
    Moodle
    © Unitec Institute of Technology, Private Bag 92025, Victoria Street West, Auckland 1142
     

     

    Usage

    Downloads, last 12 months
    56
     
     

    Usage Statistics

    For this itemFor the Research Bank

    Share

    About

    About Research BankResearch at UnitecContact us

    Help for authors  

    How to add researchOpen Access GuideVersions Toolkit

    Register for updates  

    LoginRegister

    Browse Research Bank  

    EverywhereAcademic study areasAuthorDateSubjectTitleType of researchSupervisorThis CollectionAuthorDateSubjectTitleType of researchSupervisor

    Library home
    Send Feedback
    Research publications
    Unitec
    Moodle
    © Unitec Institute of Technology, Private Bag 92025, Victoria Street West, Auckland 1142