University of Twente Student Theses
Re-stabilization of grip with limited gripping force through adaptive motion planning and acceleration control
Aaldering, Luke J.C. (2025) Re-stabilization of grip with limited gripping force through adaptive motion planning and acceleration control.
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| Abstract: | This paper proposes a method to react and compensate slippage using adaptive motion planning. It does this by controlling and limiting the acceleration of the end effector. This reduces the interaction forces acting on the load, which are responsible for the slippage. As a result, the system is capable of manipulating loads at a lower grip strength without losing contact with the grip. This system was tested and evaluated for different accelerations, grip strengths and load frictions, resulting in potential decrease in required grip strength of up to 15% in the tested scenarios. This also resulted in a clear insight in which variables and conditions help facilitate this compensation. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 52 mechanical engineering |
| Programme: | Robotics MSc (60973) |
| Link to this item: | https://purl.utwente.nl/essays/105318 |
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