Implementation and performance evaluation open-source controller for precision control of gripper

Seung-Yong Lee; Un-Hyeong Ham; Young-Woo Park; Hak-Sang Jung; Il-Kyun Jung; Sun Lim

doi:10.1117/12.2301196

19 December 2017 Implementation and performance evaluation open-source controller for precision control of gripper

Seung-Yong Lee, Un-Hyeong Ham, Young-Woo Park, Hak-Sang Jung, Il-Kyun Jung, Sun Lim

Proceedings Volume 10613, 2017 International Conference on Robotics and Machine Vision; 106130M (2017) https://doi.org/10.1117/12.2301196
Event: Second International Conference on Robotics and Machine Vision, 2017, Kitakyushu, Japan

Abstract

This paper proposes integrating gripper embedded operating system, which consist of external interface structure for sophisticated gripper control. This system has multiple functions that control the gripping module and measure the pose of the gripper body with respect to contact environment. A controller based on open source only for the gripper is developed and an external communication interface between robot controller and gripper controller is designed. An experimental environment for the fixed-cycle test consists of integrating magic gripper software system and hardware on commercial business. As a result, a deviation is measured approximately 2% and the system were verified for gripper control.

Citation Download Citation

Seung-Yong Lee, Un-Hyeong Ham, Young-Woo Park, Hak-Sang Jung, Il-Kyun Jung, and Sun Lim "Implementation and performance evaluation open-source controller for precision control of gripper", Proc. SPIE 10613, 2017 International Conference on Robotics and Machine Vision, 106130M (19 December 2017); https://doi.org/10.1117/12.2301196

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