E-018

Sensor-Based Controlling of the Objects' Pose for Multifinger Grippers

Authors: T. Fischer and D. Rapela
Affiliation: Universitaet Karlsruhe, Institut fuer Prozessrechentechnik, Automation und Robotik (IPR)

Abstract
In the field of research and development of grippers in object-handling applications, many research results in improving grippers' performances have been achieved, and many kinds of multifinger grippers have been developed. By using multifinger grippers, it is possible to grasp different objects of different shapes without changing grippers; and most importantly, it can manipulate the grasped object in the hand, under the condition that the object is controlled in real-time. Therfore, an object-pose controller with feedback from an object-pose sensor is presented in this paper.

Dipl.-Ing. Thomas Fischer
Universitaet Karlsruhe
Institut fuer Prozessrechentechnik, Automation und Robotik (IPR)
Geb. 40.28, Zi.005
76128 Karlsruhe
GERMANY
Tel.: +49-721-608-4252
Fax : +49-721-608-7141
E-mail: tfischer@ira.uka.de
WWW-page: http://wwwipr.ira.uka.de/~tfischer