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Published in:
2018 | OriginalPaper | Chapter
Force-controlled Solution for Non-destructive Handling of Sensitive Objects
Authors : Stefanie Spies, Miguel Angel Villanueva Portela, Matthias Bartelt, Alfred Hypki, Benedikt Ebert, Ricardo E. Ramirez, Bernd Kuhlenkötter
Published in: Tagungsband des 3. Kongresses Montage Handhabung Industrieroboter
Publisher: Springer Berlin Heidelberg
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There is a high demand for the automated handling of sensitive objects, e.g. pressure-sensitive pastries, fruit or sensitive cell material. However, easy-touse and flexible solutions for an automated handling of such objects are not available yet. Furthermore, the forces and torques are only considered during the grab or release process. Current methods do not support a complete monitoring of the forces and torques nor the dynamic behavior of the object during the entire handling process. The paper describes an approach for a continuously controlled handling of sensitive objects. It introduces a concept for an overall control of the handling device as well as a concept for the design of a gripping module.