Pavel Dzitac

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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 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 work reveals that parallel gripper flat-jaw configuration affects grasping effectiveness. An important finding is the fact that object grasp reliability is influenced significantly by gripper's ability to develop high resistance to object rotation in the gripper. The concept of effective torque radius, which increases resistance to object rotation in(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)
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