Robotic Gripper Contact Sensing for Piece-Loss Response
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Solution Overview
Problem
Robotic systems face challenges in managing piece-loss scenarios due to insufficient sensitivity and adaptability, particularly when handling objects with soft or irregular surfaces, leading to grip failures during manipulation tasks.
Innovation Solution
A robotic system equipped with granular control mechanisms and contact sensors that determine a contact measure to adjust grip and motion plans dynamically, allowing for regripping, controlled drops, and adjusted motion paths to prevent piece loss.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If robot end-effectors use conventional contact sensors and force control, then basic gripping function is achieved, but sensitivity is insufficient for objects with soft and irregular surfaces
Solution Approach 1:
The contact sensor array is divided into multiple discrete sensing elements distributed across the end-effector surface, allowing localized measurement of contact forces at different positions. This segmentation enables the system to detect subtle variations in contact pressure on soft and irregular surfaces while keeping each individual sensor element relatively simple.
Solution Approach 2:
The system applies different sensing characteristics to different regions of the end-effector by using an array of contact sensors with varying sensitivities or measurement ranges at different locations. This allows the gripping system to adapt to local surface properties of objects, providing high sensitivity where needed while maintaining overall system manageability.
2Adaptability or versatility
If robots follow fixed motion plans, then execution efficiency is maintained, but adaptability to conditions outside targeted scenarios is insufficient
Solution Approach 1:
The system continuously monitors contact sensor readings during task execution and compares them against expected values from the motion plan. When deviations indicate piece-loss conditions or unexpected contact forces, the feedback loop triggers automatic adjustment of the motion plan, allowing the robot to adapt to new scenarios while minimizing interruption time through real-time detection and response.
Solution Approach 2:
The motion plan is designed as a dynamic, adjustable sequence rather than a fixed rigid program. The system can modify trajectory, speed, and gripping force parameters in real-time based on sensor feedback, enabling adaptation to conditions outside the originally targeted scenario while maintaining efficient execution through pre-planned adjustment protocols.
3Reliability
If robots lack granular control mechanisms, then system simplicity is maintained, but piece-loss management capability is insufficient
Solution Approach 1:
The system implements granular control by monitoring contact forces at multiple discrete sensor locations rather than using a single aggregate measurement. This partial measurement approach across multiple points provides detailed information about contact distribution, enabling detection ofincipient piece-loss conditions before they occur, while keeping each individual control decision relatively simple.
Data Source
AI summary
A method for operating a robotic system that includes calculating a base motion plan, wherein the base motion plan includes a sequence of commands or settings, or a combination thereof, that operates a robotic arm and a gripper to transfer a target object from a start location to a task location; receiving a contact measure while executing the base motion plan, wherein the contact measure represents an amount of grip of the gripper on the target object; and generating one or more actuator commands/settings that deviate from the base motion plan when the contact measure fails to satisfy a threshold, wherein the one or more actuator commands/settings thereof are configured to operate the robotic arm, the gripper, or a combination thereof to execute one or more response actions not included in the base motion plan.