Sensorless force estimation on fingertip with gravitational compensation for heavy-duty pneumatic tri-grasper robot

• Main Authors: A., Irawan, Putra Azahar, M. I., Hashimi, M. A.
• Format: Conference or Workshop Item
• Language: English; English
• Published: IET Digital Library 2022
• Subjects: TJ Mechanical engineering and machinery; TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://umpir.ump.edu.my/id/eprint/38605/1/Sensorless%20Force%20Estimation%20on%20Fingertip%20with%20Gravitational%20Compensation%20for%20Heavy.pdf; http://umpir.ump.edu.my/id/eprint/38605/2/Sensorless_force_estimation_on_fingertip_with_gravitational_compensation_for_heavy-duty_pneumatic_tri-grasper_robot.pdf; http://umpir.ump.edu.my/id/eprint/38605/; https://ieeexplore.ieee.org/document/10106715
• Institution: Universiti Malaysia Pahang

The paper presents the proposed sensorless force estimator design for pneumatic robot fingertip by using gravitational compensation and pressure changed in pneumatic cylinder piston. The approach is done to replace the commercial force sensor that may be expensive for heavy-duty configuration. The f...