Stable Grasping Control of Three-finger Manipulator based on Sliding Detection

Robots need tactile sensors for sliding detection when achieving a hand-like grasping. In this paper, the tactile array sensor is installed on the fingers of the three-finger manipulator, and the contact force is collected during the grasping process. The contact force is transformed by Wavelet Transformation to obtain the detail coefficient. According to the analysis results, the sliding detection is carried out. On this basis, a stable grasping control strategy that can restrain sliding is proposed, and the experiments are carried out on it. Experiments show that the adopted sliding detection method can detect whether the object is sliding or not, and the proposed control strategy can adjust the grasping force of the finger after the sliding is detected, which improves the stability of grasping.