Design of test platform for robot flexible grasping and grasping force tracking impedance control

One of the major challenges of agricultural robots is the grasping and picking fresh fruit and vegetable without any damage under the complex environment. In order to minimize the harm due to robot grasp, this paper mainly introduces a dexterous multisensory gripper design and also develops a new force impedance control algorithm. First, the gripper with dual motor drive was designed, and each of fingers had an independent servo drive system and was integrated with force and tactile sensors. The calibration force sensors were mounted at the root of each finger, and the force signals were obtained by the force sensors. Robot grasping experiments show that the system runs smoothly and reliably, the force-feedback impedance control is very effective, and the steady state error is maximum range within [+ or -] 0.4N in the experiment of grasping the tomatoes and eggs. The research provides a key control technology for the compliant grasping of fruit and vegetable.