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An overview of the university of Louisiana robotic gripper system project

Tsourveloudis Nikolaos, Ramesh Kolluru, Kimon P. Valavanis, Stanford Smith

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Year 2002
Type of Item Peer-Reviewed Journal Publication
Bibliographic Citation R. Kolluru , K. P. Valavanis, S. Smith, N. C. Tsourveloudis, 'An Overview of the university of Louisiana robotic gripper system Project', The Trans. of the Inst. of Meas. and Control, vol. 24, no. 1, pp. 65-84, 2002.doi:10.1191/0142331202tm050oa
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This paper summarizes a concluded 5-year funded research project (1994-1999) addressing the automated handling and manipulation of limp material, without distortion, deformation or damage. A series of prototype gripper systems (fixed-dimensioned and reconfigurable) were developed and integrated with Adept Series manipulators to demonstrate the gripper applicability to the textiles and apparel industry. A sensor-based control system based on the hierarchical control architecture paradigm (Valavanis and Saridis, Intelligent robotic systems: theory, design and applications, Kluwer, Amsterdam, 1992) controlled the operation of the integrated robotic gripper system. The research concluded with the conceptual and theoretical design of a reconfigurable robotic gripper system (RGS) followed by simulation-based design parameter validation, controlled by a fuzzy logic controller (for both position- and suction-based control). RGS simulation studies demonstrated the distortion-free manipulation of limp material panels of a variety of shapes and sizes.