Highspeed Force Sensitive Object Handling via Cyberphysical Gripping System

Even for modern robot attached gripping solutions, sensitive object handling remains a challenge. Available gripping devices tend to only focus on the gripping process consisting of grasping and releasing. This approach neglects the forces that are applied to the product during transit. This yields the problem of damaging the product by the robot’s acceleration. In order to automate those processes, or reduce cycle time, it is necessary to develop a sensitive gripping system. It has to be capable of adjusting to the circumstances of the process and the object by reducing the total force applied to the object-specific maximum. Therefore, this paper describes an approach for the flexible and continuously controlled handling of sensitive objects via cyberphysical gripping system.