An implementation of gripper control using the new slipping detector by multisensor fusion method

This paper proposes a method of measuring contact force between environment and an object grasped by a parallel two-fingered hand with force sensors and slip sensor. The force sensor uses two load cells. The slip sensor uses an array photoresistor to detect slippage. We use multisensor data fusion to get the results of safety and stability. The method uses the rule-based algorithm to get an adequate decision that feeds to the controller in order to control the hand grasping the object. We use a DC servomotor to drive the hand. The controller is a microprocessor (ATMEL-89C51). It uses a PWM method to drive the servomotor. The hand can increase the grasping force when the slippage of object was happened; and the hand can decrease the grasping force when the slippage of object has not happened. The grasping force is improved according to the sensor values. Finally, we develop some experiments that use the hand to grasp the variable objects (plastic, polygon, aluminum) to implement it efficiently.