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Prying grasp strategy with failure recovery
- Citation Author(s):
- Submitted by:
- QI ZHANG
- Last updated:
- Tue, 08/30/2022 - 00:46
- DOI:
- 10.21227/fq8w-1g85
- Data Format:
- Research Article Link:
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Abstract
The code is the sequence of prying grasp. The failure detection and recovery are included in the code.
Instructions:
The code is to realize the prying grasp. And failure detection and recovery are also included in the code. The gripper is controlled by Simulink and dSPACE. Since the gripper has not been published, the hand controller is set as a blank function. The sequence of the prying grasp is described in the code. The prying force increases from zero during the prying motion, and the fingertips detect whether the object is pried up. If the object is failed to be pried up, the gripper will repeat the prying motion with a larger prying force until the object is pried up.