Slipping detection and control in gripping fruits and vegetables for agricultural robot
Keywords:
agricultural robot, slipping sensor, DWT, gripping force controlAbstract
The minimum gripping force applied is expected to prevent objects from mechanical damage when an agricultural robot is applied to handle and manipulate fruits and vegetables. In this research, a sensitive slipping sensor was developed with a piezo resistor to control the griping force of the agricultural robot. Firstly, an output of the slipping sensor was analyzed in a frequency domain by using a short time Fourier transform. Then rules for discriminating slipping signal from the output of a slipping sensor were proposed based on detail coefficients of discrete wavelet transform. Finally, a controller based on adaptive Neuro-Fuzzy inference system was developed to adjust the grasping force of the agricultural robot in real time. The detail coefficients and the normal gripping force were applied as input of the controller, and Fuzzy rules were simplified through subtractive clustering. With a two-finger end-effector of the agricultural robot, the experimental results showed that the slipping signal could be effectively extracted regardless of change in the normal gripping force, and the gripping force had been controlled successfully when grasping tomatoes and apples. This method was a promising way to optimize the gripping force of the agricultural robot grasping the fruits and vegetables. Keywords: agricultural robot, slipping sensor, DWT, gripping force control DOI: 10.25165/j.ijabe.20181104.3279 Citation: Tian G Z, Zhou J, Gu B X. Slipping detection and control in gripping fruits and vegetables for agricultural robot. Int J Agric & Biol Eng, 2018; 11(4): 45–51.References
[1] Teshigawara S, Tsutsumi T, Shimizu S, Suzuki Y. Highly sensitive sensor for detection of initial slip and its application in a multi-fingered robot hand. IEEE International Conference on Robotics and Automation, Shanghai, China, 2011; 19(6): 1097–1102.
[2] Damian D D, Martinez H, Dermitzakis K, Hernandez-Arieta A. Artificial ridged skin for slippage speed detection in prosthetic hand applications. IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 2010; 25(1): 904–909.
[3] Shang Z D, Wang Q Y, Han J H. Sliding sensor and soft grasping of electron hydraulic servo manipulator. IEEE International Conference on Mechatronics and Automation, Luoyang, China, 2006; pp.1459–1464.
[4] O’Toole M, Bouazza-Marouf K, Kerr D, Vloeberghs M. Robust contact force controller for slip prevention in a robotic gripper. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems & Control Engineering, 2010; 224(3): 275–288.
[5] Sanchez J, Schneider S, Hochgeschwender N, Kraetzschmar G K, Plöger P G. Context-based adaptation of in-hand slip detection for service robots. IFAC Papers On Line, 2016; 49(15): 266–271.
[6] Dollar A M, Jentoft L P, Gao J H, Howe R D. Contact sensing and grasping performance of compliant hands. Autonomous Robots, 2010; 28(1): 65–75.
[7] Dollar A M, Cho K J, Fearing R S, Park Y L. Special issue: fabrication of fully integrated robotic mechanisms. Journal of Mechanisms & Robotics, 2015; 142(S266): 419–428.
[8] Hasegawa H, Mizoguchi Y, Tadakuma K, Ming A. Development of intelligent robot hand using proximity, contact and slip sensing. IEEE International Conference on Robotics and Automation, Anchorage, AK, USA, 2010; 46(1):777–784.
[9] Gunji D, Mizoguch Y, Teshigawara S, Ming A, Namiki A, Ishikawa M, et al. Grasping force control of multi-fingered robot hand based on slip detection sing tactile sensor. Jrsj, 2010; 25: 2605–2610.
[10] Zhao K, Li X, Lu C, Lu G, Wang Y. Video-based slip sensor for multidimensional information detecting in deformable object grasp. Robotics & Autonomous Systems, 2017; 91: 71–82.
[11] Cotton D P J, Chappell P H, Cranny A, White N M, Beeby S P. A novel thick-film piezoelectric slip sensor for a prosthetic hand. IEEE Sensors Journal, 2007; 7(5): 752–761.
[12] Petchartee S, Monkman G. Slip Prediction through Tactile Sensing. Sensor and Transducers Journal (CD-ROM), 2008; 90: 310–324.
[13] Shirafuji S, Hosoda K. Detection and prevention of slip using sensors with different properties embedded in elastic artificial skin on the basis of previous experience. International Conference on Advanced Robotics, Tallinn, Estonia, 2011; 62(1): 459–464.
[14] Shirafuji S, Ikemoto S, Hosoda K. Trajectory control strategy for anthropomorphic robotic finger. Conference on Biomimetic and Biohybrid Systems, Milan, Italy, 2014; 8608(3): 284–295.
[15] Lévesque F, Sauvet B, Cardou P, Gosselin C. A model-based scooping
grasp for the autonomous picking of unknown objects with a two-fingered gripper. Robotics & Autonomous Systems, 2018; 106: 14–25.
[16] Vatani M, Engeberg E D, Choi J W. Force and slip detection with direct-write compliant tactile sensors using multi-walled carbon nanotube polymer composites. Sensors & Actuators A: Physical, 2013; 195(2): 90–97.
[17] Engeberg E D, Meek S G. Adaptive object slip prevention for prosthetic hands through proportional-derivative shear force feedback. IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, 2016; pp.1940–1945
[18] Koda Y, Maeno T. Grasping force control in master-slave system with partial slip sensor. IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006; 740: 4641–4646.
[19] Glossas N I, Aspragathos N A. A cluster based fuzzy controller for grasp and lift fragile objects. 18th Mediterranean Conference on Control & Automation, Marrakech, Morocco, 2010; 20(1): 1139–1144.
[20] Teshigawara S, Tadakuma K, Ming A, Ishikawa M. Development of high-sensitivity slip sensor using special characteristics of pressure conductive rubber. IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009; pp.3289–3294.
[2] Damian D D, Martinez H, Dermitzakis K, Hernandez-Arieta A. Artificial ridged skin for slippage speed detection in prosthetic hand applications. IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 2010; 25(1): 904–909.
[3] Shang Z D, Wang Q Y, Han J H. Sliding sensor and soft grasping of electron hydraulic servo manipulator. IEEE International Conference on Mechatronics and Automation, Luoyang, China, 2006; pp.1459–1464.
[4] O’Toole M, Bouazza-Marouf K, Kerr D, Vloeberghs M. Robust contact force controller for slip prevention in a robotic gripper. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems & Control Engineering, 2010; 224(3): 275–288.
[5] Sanchez J, Schneider S, Hochgeschwender N, Kraetzschmar G K, Plöger P G. Context-based adaptation of in-hand slip detection for service robots. IFAC Papers On Line, 2016; 49(15): 266–271.
[6] Dollar A M, Jentoft L P, Gao J H, Howe R D. Contact sensing and grasping performance of compliant hands. Autonomous Robots, 2010; 28(1): 65–75.
[7] Dollar A M, Cho K J, Fearing R S, Park Y L. Special issue: fabrication of fully integrated robotic mechanisms. Journal of Mechanisms & Robotics, 2015; 142(S266): 419–428.
[8] Hasegawa H, Mizoguchi Y, Tadakuma K, Ming A. Development of intelligent robot hand using proximity, contact and slip sensing. IEEE International Conference on Robotics and Automation, Anchorage, AK, USA, 2010; 46(1):777–784.
[9] Gunji D, Mizoguch Y, Teshigawara S, Ming A, Namiki A, Ishikawa M, et al. Grasping force control of multi-fingered robot hand based on slip detection sing tactile sensor. Jrsj, 2010; 25: 2605–2610.
[10] Zhao K, Li X, Lu C, Lu G, Wang Y. Video-based slip sensor for multidimensional information detecting in deformable object grasp. Robotics & Autonomous Systems, 2017; 91: 71–82.
[11] Cotton D P J, Chappell P H, Cranny A, White N M, Beeby S P. A novel thick-film piezoelectric slip sensor for a prosthetic hand. IEEE Sensors Journal, 2007; 7(5): 752–761.
[12] Petchartee S, Monkman G. Slip Prediction through Tactile Sensing. Sensor and Transducers Journal (CD-ROM), 2008; 90: 310–324.
[13] Shirafuji S, Hosoda K. Detection and prevention of slip using sensors with different properties embedded in elastic artificial skin on the basis of previous experience. International Conference on Advanced Robotics, Tallinn, Estonia, 2011; 62(1): 459–464.
[14] Shirafuji S, Ikemoto S, Hosoda K. Trajectory control strategy for anthropomorphic robotic finger. Conference on Biomimetic and Biohybrid Systems, Milan, Italy, 2014; 8608(3): 284–295.
[15] Lévesque F, Sauvet B, Cardou P, Gosselin C. A model-based scooping
grasp for the autonomous picking of unknown objects with a two-fingered gripper. Robotics & Autonomous Systems, 2018; 106: 14–25.
[16] Vatani M, Engeberg E D, Choi J W. Force and slip detection with direct-write compliant tactile sensors using multi-walled carbon nanotube polymer composites. Sensors & Actuators A: Physical, 2013; 195(2): 90–97.
[17] Engeberg E D, Meek S G. Adaptive object slip prevention for prosthetic hands through proportional-derivative shear force feedback. IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, 2016; pp.1940–1945
[18] Koda Y, Maeno T. Grasping force control in master-slave system with partial slip sensor. IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006; 740: 4641–4646.
[19] Glossas N I, Aspragathos N A. A cluster based fuzzy controller for grasp and lift fragile objects. 18th Mediterranean Conference on Control & Automation, Marrakech, Morocco, 2010; 20(1): 1139–1144.
[20] Teshigawara S, Tadakuma K, Ming A, Ishikawa M. Development of high-sensitivity slip sensor using special characteristics of pressure conductive rubber. IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009; pp.3289–3294.
Downloads
Published
2018-08-08
How to Cite
Tian, G., Zhou, J., & Gu, B. (2018). Slipping detection and control in gripping fruits and vegetables for agricultural robot. International Journal of Agricultural and Biological Engineering, 11(4), 45–51. Retrieved from https://ijabe.migration.pkpps03.publicknowledgeproject.org/index.php/ijabe/article/view/3279
Issue
Section
Applied Science, Engineering and Technology
License
IJABE is an international peer reviewed open access journal, adopting Creative Commons Copyright Notices as follows.
Authors who publish with this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).
