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A grip force and slippage control for robotic object manipulation, based on mechanical friction is presented. This approach allows a load to be held reliably in the robot gripper without application of excessive forces or allowing uncontrolled slippage. It is a simple, robust and low cost solution, and could be used for applications where low cost(More)
This article presents a newly developed robotized palletizer control configuration consisting of a graphical application running on a human-machine interface (HMI) touch screens, a PLC program, and a servo system that executes palletizer reconfiguration and makes high-speed robotic palletizing possible. The servo system of the palletizer allows the PLC to(More)
This paper presents various factors that influence robotic object manipulation. Some of these factors are inherent to the object and mostly unavoidable, while others are controllable by the grasping and slippage control system designer. Some factors, such as object texture are obviously inherent to the object and unavoidable for the purpose of object(More)
This paper presents the design changes to the control strategy of a robotic palletising machine that was developed earlier. The changes were required in order to simplify maintenance, and to enhance reliability and robustness. The updated control system uses a distributed control configuration to minimise control complexity and maximise functionality. The(More)
This paper presents a powerful and inexpensive method for object detection and location using a low cost, commercial 3D depth sensor. This method can be used as an affordable alternative to the more expensive commercial object detection and location systems, particularly where a depth inaccuracy of a few millimeters can be tolerated. The prototype control(More)
This paper presents the importance of designing a robotic grasping mechanism from the mechanical resolution and sensing resolution perspective. A low grasping system mechanical resolution defeats the purpose of high sensing resolution. A low sensing resolution capability defeats the purpose of a high mechanical control resolution. In either case the result(More)
This paper details the further improvements obtained by redesigning a previously offered Manipulation Controller Framework to provide support to an innovative, friction-based object slippage detection strategy employed by the robotic object manipulator. This upgraded Manipulation Controller Framework includes improved slippage detection functionality and a(More)
This paper presents experimental and deductive findings that shed new light on grasp force estimation, which improves robot's chances to grasp and manipulate the object close to optimum conditions on the first attempt, which in turn improves robot's object manipulation dexterity. This paper proposes that object slippage detection in the human hand is not(More)