This project involves designing and implementing a robotic gripper that utilizes impedance control to adaptively grip objects of varying stiffness. The gripper is designed in SolidWorks, optimized, and then 3D printed. The system integrates two controllers—an impedance controller and a current feedback controller—to ensure safe and effective gripping of different objects. The gripper consists of two graspers and can hold objects ranging from 1 cm to 5 cm in size. A hybrid control approach is used to select the optimal gripping force by comparing the desired force calculated by both controllers. The real-time force values are displayed using an Arduino and a display module. 1 2
- Abstract
- Introduction
- Impedance Controller
- Current Feedback Controller
- Hybrid Controller
- Arduino Integration
- Display System
- Credits
Robotic grippers require precise control to handle objects of different stiffness without causing damage. Impedance control simulates a mass-spring-damper system, allowing adaptability in force exertion. In this project, we developed a robotic gripper that uses impedance control along with current feedback control to optimize gripping force. The system was first modeled and tested in SolidWorks, followed by 3D printing the final design.
Impedance control treats the interaction between the robotic gripper and the object as a spring-mass-damper system. The force applied adapts based on the stiffness of the object, preventing excessive force that could damage fragile items like an egg or plastic cup.
- Ensures adaptive gripping for objects with different stiffness levels.
- Prevents excessive force application (avoiding breakage or deformation).
- Simulates a physical response similar to human gripping dynamics.
- The INA219 sensor is used to measure the current drawn by the servo motors.
- This feedback provides an estimate of the force applied by the gripper.
- A desired force is computed based on the real-time current readings.
- Ensures real-time force monitoring.
- Provides an additional method to calculate the required gripping force.
- Prevents excessive strain on the servo motors.
- The impedance controller computes a desired force based on the object’s stiffness.
- The current feedback controller calculates another desired force from the measured servo current.
- The lower force from these two calculations is selected to grip the object safely.
- Enhances gripping safety by avoiding excessive force application.
- Ensures adaptability for different object types.
- Optimizes servo motor performance by reducing unnecessary load.
- An Arduino board is used as the central controller.
- It processes force calculations from both the impedance and current feedback controllers.
- Controls the servo motors based on the selected gripping force.
- Communicates with the display module to show real-time force values.
- A display module (LCD or OLED) is used to show real-time force values.
- Displays:
- Impedance controller’s calculated force.
- Current feedback controller’s calculated force.
- Helps in monitoring and debugging the gripping process.
- Project Design & Development: [Your Name]
- Mechanical Design: [Team Member's Name]
- Electronics & Programming: [Team Member's Name]
- 3D Printing & Prototyping: [Team Member's Name]
For any inquiries or contributions, feel free to open an issue or submit a pull request on this GitHub repository.
- Implementing force sensors for more precise gripping feedback.
- Exploring machine learning for adaptive grip tuning.
- Enhancing gripper speed and efficiency through optimized control algorithms.
Feel free to star ⭐ the repository if you find this project useful!