Adaptive Grasp Force Control for Robotic Gripper Based on Force Sensitive Resistor Sensor

Riky Tri Yunardi; Nasa Zata Dina; Deny Arifianto; Muchamad Sholakhuddin Al Fajri; Celya Intan Kharisma Putri

doi:10.33019/

Authors

Riky Tri Yunardi Instrumentation and Control Engineering Technology, Faculty of Vocational, University Airlangga
Nasa Zata Dina Informatics Engineering, Faculty of Vocational, University Airlangga
Deny Arifianto English Language, Faculty of Vocational, University Airlangga
Muchamad Sholakhuddin Al Fajri Diagnostic Imaging, Faculty of Vocational, University Airlangga
Celya Intan Kharisma Putri Diagnostic Imaging, Faculty of Vocational, University Airlangga

DOI:

https://doi.org/10.33019/

Keywords:

Adaptive Grasp Robot, Force Control, Force Sensitive Resistor (FSR) Sensor, Proportional Integral Derivative (PID), Robotic Gripper

Abstract

Robotics technology has been developed to support human tasks through robotic grippers that can control force on fragile surfaces. This research presents the design of an adaptive grasp force control system for two types of robotic grippers using FSR sensor and a PID control approach. This system was developed to adaptively regulate grip force when interacting with objects with varying surface characteristics. Experimental results showed that the FSR sensors provided feedback with an average error of 0.112 N. Implementation of PID control using the Ziegler–Nichols method successfully enabled the robotic gripper to achieve a desired force of 5 N. The gripper type A demonstrated the settling time of 1.75 seconds for glass cup, 2.25 seconds for plastic cup, and 3.25 seconds for paper cup. Meanwhile, gripper type B demonstrated a settling time of 2 seconds for glass cup, 2.75 seconds for plastic cup, and 3.75 seconds for paper cup. Although the response is slower, the gradual increase in force can reduce the risk of applying excessive force to soft object surfaces. A comparison between the two gripper designs highlights the importance of mechanical structure in influencing control performance.

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