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dc.contributor.authorChand, Praneel
dc.contributor.authorLal, S.
dc.contributor.authorKumar, R.
dc.date.accessioned2018-02-01T18:35:49Z
dc.date.available2018-02-01T18:35:49Z
dc.date.issued2016-12
dc.identifier.issn1819-6608
dc.identifier.urihttp://hdl.handle.net/10652/4084
dc.description.abstractThis 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.en_NZ
dc.language.isoenen_NZ
dc.publisherAsian Research Publishing Network (ARPN)en_NZ
dc.relation.urihttp://www.arpnjournals.org/jeas/research_papers/rp_2016/jeas_1216_5455.pdfen_NZ
dc.rights©2006-2016 Asian Research Publishing Network (ARPN)en_NZ
dc.subjectrobotic armen_NZ
dc.subjectgripperen_NZ
dc.subjectforce feedbacken_NZ
dc.subjectcalibrationen_NZ
dc.subjectcontrolen_NZ
dc.subjectforce sensoren_NZ
dc.titleDevelopment of a force feedback system for a SCORBOT robotic arm gripperen_NZ
dc.typeJournal Articleen_NZ
dc.date.updated2017-09-06T14:30:07Z
dc.subject.marsden090602 Control Systems, Robotics and Automationen_NZ
dc.identifier.bibliographicCitationChand, 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.en_NZ
unitec.publication.spage13766en_NZ
unitec.publication.lpage13774en_NZ
unitec.publication.volume11en_NZ
unitec.publication.issue23en_NZ
unitec.publication.titleARPN Journal of Engineering and Applied Sciencesen_NZ
unitec.peerreviewedyesen_NZ
unitec.identifier.roms60517en_NZ
unitec.publication.placeIslamabad, Pakistanen_NZ


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