Design of servo actuated robotic gripper using force control for range of objects

In our research work we designed a robotic gripper for industrial robotic arm which is capable of grasping any rigid as well as delicate objects. Our control system produces an adequate force to grasp any object. In this paper, we designed a gripper mechanism and a controller. Force sensor was fixed at the gripper finger to collect the force values while grasping. We implemented proportional-integral-derivative control for our controller. To prevent slipping of object during grasping we designed Anti-slip algorithm and implemented to our gripper module. The experimental results demonstrate that our gripper design in robust and capable of gripping variety of objects and not just for particular purpose.