Synthesis of Sensor-Assisted Robotic Grasp Using Customized Graphical User Interface

automated material handling endeavor. Both form as well as force closure of such gripping by use of a robotic gripper need subtle analysis, especially at the post-grasp scenario These paradigms of a typical robotic grasp thus demand of suitable sensory instrumentation within the physical ensemble of the gripper. The said sensory layout can be homogeneous or heterogenous or a combination of both, depending on the type of payload and grasp priorities. It is obvious that sensory layout and the instrumentation thereof becomes extremely tricky and technologically challenging in a miniaturized robotic gripper. The present work was conceptualized considering real-time ‘grasp assistance’. The entire episode of the said sensor-instrumented robotic grasp is analyzed with the help of a custom-made novel Graphical User Interface (GUI) that is compatible with the functioning of the controller of the gripper as well, both on-line as well as off-line. The sensory inputs are not only useful to show the results on the graph as per the requirement of the user by analyzing the trend of the data-stream through various statistical analyses but also helpful to take further decisions regarding the accuracy of various sensors fitted in the hardware. The comaprative analysis of the sensory values using the graphical plot is very helpful for checking the working capability of the sensors in the true spirit of assistanceship to the sensory feedback-enabled robotic grasp.