Design and control of a quasi-direct drive robotic gripper for collision tolerant picking at high speed Universiteit Gent Vrije Universiteit Brussel
Faster robotic picking of objects can improve industrial production throughput. A gripper design with appropriate control strategy is demonstrated to pick objects at high speed, while being tolerant to unintentional collisions. The design has a quasi-direct drive with backdrivable, rigid finger mechanism to transfer collision forces with minimal delay towards the motor side. These forces are detected based on band-pass filtered momentum and ...