Gripper can assemble cable
Still a research project, but certainly available for purchase in the foreseeable future: MIT's Computer Science and Artificial Intelligence Laboratory (MIT CSAIL) in Boston has developed a gripper that can handle cables, wires, etc. using real-time tactile feedback. These materials are highly unstable, making real-time feedback all the more important. This is accomplished by a vision-based tactile (i.e., palpation) sensor called GelSight, which controls the position of the cable in the grip and the frictional forces as the cable slides. Ultimately, it replicates the feel of human fingers, and GelSight has tiny "cameras" embedded in rubber. Two tactile-based controllers are used:
1. A cable strain relief controller, where a PD controller combined with a leaky integrate regulates the gripping force to keep the frictional sliding forces near an appropriate value.
2. A cable position controller, where an LQR controller based on a learned linear model keeps the cable sliding dynamics centered and aligned with the fingertips to prevent the cable from slipping out of the grip. This behavior is made possible by a reactive gripper equipped with high-resolution GelSight-based tactile sensors.
Currently, the gripper can handle 1 meter with 2-3 correction grips. The correct use of force is particularly important. The video shows a robot gripping the cable of a headphone. The jack plug is inserted perfectly. (This info was taken from this working paper ).
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The author of this blog is available for market research or even a walk through your production/manufacturing or by phone based on photos/descriptions at a fixed price(detail), to then make concrete proposals for the use of cobots and other robots incl. funding opportunities. Both SMEs and large companies are visited. Among other things in Bavaria a 50% investment promotion is conceivable. The standard book about cobots also comes from him. In addition, he is very familiar with the KfW-Corona programs (incl. exemptions).
