Grip Controller for Partial Slip Detection in Robotic Handling
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Solution Overview
Problem
Current technologies fail to accurately detect partial slip in robotic gripping, making it difficult to control gripping force before an object starts to slip, and there is no effective method for detecting partial slip, leading to challenges in maintaining a stable grip, especially when the object is hard or has a uniform pressure distribution.
Innovation Solution
A controller and method that utilize pressure information from regions with different slipping characteristics to detect whole slip and partial slip by analyzing pressure-center position changes, allowing for precise control of gripping force to prevent object slip.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If pressure distribution is uniform (e.g., hard object or plane surface), then gripping force can be applied, but partial slip detection becomes difficult and progress is rapid
Solution Approach 1:
The contact surface is divided into multiple pressure-sensitive regions to detect slip characteristics. By segmenting the detection area, the system can identify localized pressure changes that indicate partial slip, even when overall pressure distribution is uniform. This segmentation enables precise detection of slip initiation points and progression.
Solution Approach 2:
Different regions of the contact surface are assigned different slipping characteristics through varying friction coefficients. This creates local quality differences that cause regions to slip at different times, making partial slip detectable through pressure changes in specific regions before whole-slip occurs.
2Reliability
If gripping force is increased to prevent slip, then object stability improves, but object deformation or breakage risk increases
Solution Approach 1:
The system continuously monitors pressure distribution across multiple regions and provides feedback on slip detection. Based on this feedback, the gripping force is dynamically adjusted - increasing only when partial slip is detected, rather than maintaining constantly high force. This feedback mechanism prevents unnecessary deformation while ensuring grip stability when needed.
Solution Approach 2:
The system detects partial slip (shear deformation) before whole-slip occurs, enabling preliminary action to adjust gripping force. By identifying the early stage of slip through pressure changes in specific regions, the system can increase gripping force proactively to prevent complete slip, rather than reacting after the object has already slipped.
3Measurement precision
If traditional slip detection methods are used, then whole slip can be detected, but partial slip detection is not effective and gripping force control before slip is difficult
Solution Approach 1:
The system detects partial slip (shear deformation) before whole-slip occurs, enabling preliminary action to adjust gripping force. By identifying the early stage of slip through pressure changes in specific regions, the system can increase gripping force proactively to prevent complete slip, rather than reacting after the object has already slipped.
Solution Approach 2:
The contact surface is divided into multiple pressure-sensitive regions to detect slip characteristics. By segmenting the detection area, the system can identify localized pressure changes that indicate partial slip, even when overall pressure distribution is uniform. This segmentation enables precise detection of slip initiation points and progression.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate detection of partial slip, allowing for controlled gripping force adjustments to prevent object slip, thereby enhancing grip stability and reducing deformation or breakage.
Implementation Method 1
a whole-slip detecting unit that detects, based on pressure information sent from a plurality of regions having different slipping characteristics when an object in contact with the plurality of regions is slipping, a state of a whole slip
Data Source
AI summary
A controller according to the present disclosure includes a whole-slip detecting unit (210) that detects, based on pressure information sent from a plurality of regions having different slipping characteristics when an object in contact with the plurality of regions is slipping, a state of a whole slip in which the object is slipping on each of the plurality of regions. An occurrence timing of the whole slip is different for each of the plurality of regions, and thus a state of a partial slip in which a part of the object is slipping is able to be detected, so that it is possible to detect a slip of the object with high accuracy.