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Slip Prediction Based on Manipulator Motion
Norwegian University of Science and Technology, Faculty of Information Technology, Mathematics and Electrical Engineering, Department of Engineering Cybernetics.
2014 (English)MasteroppgaveStudent thesis
Abstract [en]

Predicting slip during robotic manipulation is of interest for a variety of appli- cations. Especially applications where weak grasps are applied. In this thesis, a model for predicting slip for a two fingered grasping scenario is considered. Other than model parameters, the only measurements or sensor information assumed is of the manipulator joints. Soft objects that deform substantially under applied forces are especially interesting in terms of frictional behaviour. A soft ball was used as a test object and parameters for friction and deformation was experimen- tally determined. By grasping and moving the ball with an industrial manipulator, slip and object loss was induced in order to compare these observations against model predictions. It was found that the models prediction of slip was reasonable when compared to the observations. However, the model could not be fully tested and validated be- cause the simple geometry of the test object did not excite any frictional behaviour from the soft characteristics.

Place, publisher, year, edition, pages
Institutt for teknisk kybernetikk , 2014. , 113 p.
URN: urn:nbn:no:ntnu:diva-26705Local ID: ntnudaim:10771OAI: diva2:750227
Available from: 2014-09-26 Created: 2014-09-26 Last updated: 2014-09-26Bibliographically approved

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